Allowed sharing of common C++ code between RoboRIO and Simulation.

Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8

wpilibc/wpilibC++Devices/src/BuiltInAccelerometer.cpp

@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "BuiltInAccelerometer.h"
+#include "HAL/HAL.hpp"
+#include "WPIErrors.h"
+
+/**
+ * Constructor.
+ * @param range The range the accelerometer will measure
+ */
+BuiltInAccelerometer::BuiltInAccelerometer(Range range)
+	: m_table(0)
+{
+	SetRange(range);
+
+	HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
+}
+
+BuiltInAccelerometer::~BuiltInAccelerometer()
+{
+}
+
+/** {@inheritdoc} */
+void BuiltInAccelerometer::SetRange(Range range)
+{
+	if(range == kRange_16G)
+	{
+		wpi_setWPIErrorWithContext(ParameterOutOfRange, "16G range not supported (use k2G, k4G, or k8G)");
+	}
+
+	setAccelerometerActive(false);
+	setAccelerometerRange((AccelerometerRange)range);
+	setAccelerometerActive(true);
+}
+
+/**
+ * @return The acceleration of the RoboRIO along the X axis in g-forces
+ */
+double BuiltInAccelerometer::GetX()
+{
+	return getAccelerometerX();
+}
+
+/**
+ * @return The acceleration of the RoboRIO along the Y axis in g-forces
+ */
+double BuiltInAccelerometer::GetY()
+{
+	return getAccelerometerY();
+}
+
+/**
+ * @return The acceleration of the RoboRIO along the Z axis in g-forces
+ */
+double BuiltInAccelerometer::GetZ()
+{
+	return getAccelerometerZ();
+}
+
+std::string BuiltInAccelerometer::GetSmartDashboardType() {
+	return "Accelerometer";
+}
+
+void BuiltInAccelerometer::InitTable(ITable *subtable) {
+	m_table = subtable;
+	UpdateTable();
+}
+
+void BuiltInAccelerometer::UpdateTable() {
+	if (m_table != NULL) {
+		m_table->PutNumber("X", GetX());
+		m_table->PutNumber("Y", GetY());
+		m_table->PutNumber("Z", GetZ());
+	}
+}
+
+ITable* BuiltInAccelerometer::GetTable() {
+	return m_table;
+}