Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-03 03:01:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Major formatting changes (breaks diffs). No code changes.

Browse Source 
The changes made in this commit do not affect any actual code,
    they are purely aesthetic. I ran clang-format with google style
    over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
    or gtest, and the eclipse formatter over all of the Java files
    using the Google eclipse formatting configuration.

Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
2015-06-25 15:07:55 -04:00
parent bd64d9a7ef
commit 7eb8550bdb
470 changed files with 89798 additions and 77287 deletions
Download Patch File Download Diff File Expand all files Collapse all files

110
wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp
View File

@@ -1,5 +1,6 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Copyright (c) FIRST 2008. 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. */
/*----------------------------------------------------------------------------*/
@@ -21,52 +22,40 @@ constexpr double ADXL345_I2C::kGsPerLSB;
* @param port The I2C port the accelerometer is attached to
* @param range The range (+ or -) that the accelerometer will measure.
*/
ADXL345_I2C::ADXL345_I2C(Port port, Range range):
I2C(port, kAddress)
{
//m_i2c = new I2C((I2C::Port)port, kAddress);
ADXL345_I2C::ADXL345_I2C(Port port, Range range) : I2C(port, kAddress) {
// m_i2c = new I2C((I2C::Port)port, kAddress);
// Turn on the measurements
Write(kPowerCtlRegister, kPowerCtl_Measure);
// Specify the data format to read
SetRange(range);
// Turn on the measurements
Write(kPowerCtlRegister, kPowerCtl_Measure);
// Specify the data format to read
SetRange(range);
HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, 0);
LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this);
HALReport(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_I2C, 0);
LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this);
}
/**
* Destructor.
*/
ADXL345_I2C::~ADXL345_I2C()
{
//delete m_i2c;
//m_i2c = NULL;
ADXL345_I2C::~ADXL345_I2C() {
// delete m_i2c;
// m_i2c = NULL;
}
/** {@inheritdoc} */
void ADXL345_I2C::SetRange(Range range)
{
Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
void ADXL345_I2C::SetRange(Range range) {
Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
}
/** {@inheritdoc} */
double ADXL345_I2C::GetX()
{
return GetAcceleration(kAxis_X);
}
double ADXL345_I2C::GetX() { return GetAcceleration(kAxis_X); }
/** {@inheritdoc} */
double ADXL345_I2C::GetY()
{
return GetAcceleration(kAxis_Y);
}
double ADXL345_I2C::GetY() { return GetAcceleration(kAxis_Y); }
/** {@inheritdoc} */
double ADXL345_I2C::GetZ()
{
return GetAcceleration(kAxis_Z);
}
double ADXL345_I2C::GetZ() { return GetAcceleration(kAxis_Z); }
/**
* Get the acceleration of one axis in Gs.
@@ -74,53 +63,50 @@ double ADXL345_I2C::GetZ()
* @param axis The axis to read from.
* @return Acceleration of the ADXL345 in Gs.
*/
double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis)
{
int16_t rawAccel = 0;
//if(m_i2c)
//{
Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel), (uint8_t *)&rawAccel);
//}
return rawAccel * kGsPerLSB;
double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
int16_t rawAccel = 0;
// if(m_i2c)
//{
Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel), (uint8_t *)&rawAccel);
//}
return rawAccel * kGsPerLSB;
}
/**
* Get the acceleration of all axes in Gs.
*
* @return An object containing the acceleration measured on each axis of the ADXL345 in Gs.
* @return An object containing the acceleration measured on each axis of the
* ADXL345 in Gs.
*/
ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations()
{
AllAxes data = AllAxes();
int16_t rawData[3];
//if (m_i2c)
//{
Read(kDataRegister, sizeof(rawData), (uint8_t*)rawData);
ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
AllAxes data = AllAxes();
int16_t rawData[3];
// if (m_i2c)
//{
Read(kDataRegister, sizeof(rawData), (uint8_t *)rawData);
data.XAxis = rawData[0] * kGsPerLSB;
data.YAxis = rawData[1] * kGsPerLSB;
data.ZAxis = rawData[2] * kGsPerLSB;
//}
return data;
data.XAxis = rawData[0] * kGsPerLSB;
data.YAxis = rawData[1] * kGsPerLSB;
data.ZAxis = rawData[2] * kGsPerLSB;
//}
return data;
}
std::string ADXL345_I2C::GetSmartDashboardType() const {
return "3AxisAccelerometer";
return "3AxisAccelerometer";
}
void ADXL345_I2C::InitTable(ITable *subtable) {
m_table = subtable;
UpdateTable();
m_table = subtable;
UpdateTable();
}
void ADXL345_I2C::UpdateTable() {
if (m_table != NULL) {
m_table->PutNumber("X", GetX());
m_table->PutNumber("Y", GetY());
m_table->PutNumber("Z", GetZ());
}
if (m_table != NULL) {
m_table->PutNumber("X", GetX());
m_table->PutNumber("Y", GetY());
m_table->PutNumber("Z", GetZ());
}
}
ITable* ADXL345_I2C::GetTable() const {
return m_table;
}
ITable *ADXL345_I2C::GetTable() const { return m_table; }