mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-26 01:51:41 +00:00
[hal, wpilib] Remove SPI support (#7678)
This commit is contained in:
Thad House
@@ -1,106 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/SimDevice.h>
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#include <units/acceleration.h>
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#include <units/angle.h>
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#include <units/angular_velocity.h>
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namespace frc {
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class ADIS16448_IMU;
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namespace sim {
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/**
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* Class to control a simulated ADIS16448 IMU.
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*/
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class ADIS16448_IMUSim {
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public:
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/**
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* Constructs from a ADIS16448_IMU object.
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*
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* @param imu ADIS16448_IMU to simulate
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*/
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explicit ADIS16448_IMUSim(const ADIS16448_IMU& imu);
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/**
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* Sets the X axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleX(units::degree_t angle);
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/**
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* Sets the Y axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleY(units::degree_t angle);
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/**
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* Sets the Z axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleZ(units::degree_t angle);
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/**
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* Sets the X axis angular rate (CCW positive).
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*
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* @param angularRate The angular rate.
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*/
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void SetGyroRateX(units::degrees_per_second_t angularRate);
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/**
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* Sets the Y axis angular rate (CCW positive).
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*
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* @param angularRate The angular rate.
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*/
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void SetGyroRateY(units::degrees_per_second_t angularRate);
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/**
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* Sets the Z axis angular rate (CCW positive).
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*
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* @param angularRate The angular rate.
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*/
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void SetGyroRateZ(units::degrees_per_second_t angularRate);
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/**
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* Sets the X axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelX(units::meters_per_second_squared_t accel);
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/**
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* Sets the Y axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelY(units::meters_per_second_squared_t accel);
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/**
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* Sets the Z axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelZ(units::meters_per_second_squared_t accel);
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private:
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hal::SimDouble m_simGyroAngleX;
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hal::SimDouble m_simGyroAngleY;
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hal::SimDouble m_simGyroAngleZ;
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hal::SimDouble m_simGyroRateX;
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hal::SimDouble m_simGyroRateY;
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hal::SimDouble m_simGyroRateZ;
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hal::SimDouble m_simAccelX;
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hal::SimDouble m_simAccelY;
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hal::SimDouble m_simAccelZ;
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};
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} // namespace sim
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} // namespace frc
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@@ -1,106 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/SimDevice.h>
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#include <units/acceleration.h>
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#include <units/angle.h>
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#include <units/angular_velocity.h>
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namespace frc {
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class ADIS16470_IMU;
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namespace sim {
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/**
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* Class to control a simulated ADIS16470 IMU.
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*/
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class ADIS16470_IMUSim {
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public:
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/**
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* Constructs from a ADIS16470_IMU object.
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*
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* @param imu ADIS16470_IMU to simulate
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*/
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explicit ADIS16470_IMUSim(const ADIS16470_IMU& imu);
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/**
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* Sets the X axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleX(units::degree_t angle);
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/**
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* Sets the Y axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleY(units::degree_t angle);
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/**
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* Sets the Z axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleZ(units::degree_t angle);
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/**
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* Sets the X axis angular rate (CCW positive).
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*
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* @param angularRate The angular rate.
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*/
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void SetGyroRateX(units::degrees_per_second_t angularRate);
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/**
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* Sets the Y axis angular rate (CCW positive).
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*
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* @param angularRate The angular rate.
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*/
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void SetGyroRateY(units::degrees_per_second_t angularRate);
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/**
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* Sets the Z axis angular rate (CCW positive).
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*
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* @param angularRate The angular rate.
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*/
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void SetGyroRateZ(units::degrees_per_second_t angularRate);
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/**
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* Sets the X axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelX(units::meters_per_second_squared_t accel);
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/**
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* Sets the Y axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelY(units::meters_per_second_squared_t accel);
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/**
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* Sets the Z axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelZ(units::meters_per_second_squared_t accel);
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private:
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hal::SimDouble m_simGyroAngleX;
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hal::SimDouble m_simGyroAngleY;
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hal::SimDouble m_simGyroAngleZ;
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hal::SimDouble m_simGyroRateX;
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hal::SimDouble m_simGyroRateY;
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hal::SimDouble m_simGyroRateZ;
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hal::SimDouble m_simAccelX;
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hal::SimDouble m_simAccelY;
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hal::SimDouble m_simAccelZ;
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};
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} // namespace sim
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} // namespace frc
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@@ -8,7 +8,6 @@
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namespace frc {
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class ADXL345_SPI;
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class ADXL345_I2C;
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namespace sim {
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@@ -25,13 +24,6 @@ class ADXL345Sim {
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*/
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explicit ADXL345Sim(const ADXL345_I2C& accel);
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/**
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* Constructs from a ADXL345_SPI object.
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*
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* @param accel ADXL345 accel to simulate
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*/
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explicit ADXL345Sim(const ADXL345_SPI& accel);
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/**
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* Sets the X acceleration.
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*
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@@ -1,55 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/SimDevice.h>
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namespace frc {
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class ADXL362;
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namespace sim {
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/**
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* Class to control a simulated ADXL362.
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*/
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class ADXL362Sim {
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public:
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/**
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* Constructs from a ADXL362 object.
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*
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* @param accel ADXL362 accel to simulate
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*/
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explicit ADXL362Sim(const ADXL362& accel);
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/**
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* Sets the X acceleration.
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*
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* @param accel The X acceleration.
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*/
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void SetX(double accel);
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/**
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* Sets the Y acceleration.
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*
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* @param accel The Y acceleration.
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*/
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void SetY(double accel);
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/**
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* Sets the Z acceleration.
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*
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* @param accel The Z acceleration.
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*/
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void SetZ(double accel);
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private:
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hal::SimDouble m_simX;
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hal::SimDouble m_simY;
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hal::SimDouble m_simZ;
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};
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} // namespace sim
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} // namespace frc
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@@ -1,51 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/SimDevice.h>
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#include <units/angle.h>
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#include <units/angular_velocity.h>
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#include "frc/geometry/Rotation2d.h"
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namespace frc {
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class ADXRS450_Gyro;
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namespace sim {
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/**
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* Class to control a simulated ADXRS450 gyroscope.
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*/
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class ADXRS450_GyroSim {
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public:
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/**
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* Constructs from a ADXRS450_Gyro object.
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*
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* @param gyro ADXRS450_Gyro to simulate
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*/
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explicit ADXRS450_GyroSim(const ADXRS450_Gyro& gyro);
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/**
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* Sets the angle.
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*
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* @param angle The angle (clockwise positive).
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*/
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void SetAngle(units::degree_t angle);
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/**
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* Sets the angular rate (clockwise positive).
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*
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* @param rate The angular rate.
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*/
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void SetRate(units::degrees_per_second_t rate);
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private:
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hal::SimDouble m_simAngle;
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hal::SimDouble m_simRate;
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};
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} // namespace sim
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} // namespace frc
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@@ -1,154 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <memory>
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#include "frc/simulation/CallbackStore.h"
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namespace frc::sim {
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class SPIAccelerometerSim {
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public:
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/**
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* Construct a new simulation object.
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*
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* @param index the HAL index of the accelerometer
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*/
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explicit SPIAccelerometerSim(int index);
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/**
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* Register a callback to be run when this accelerometer activates.
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*
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* @param callback the callback
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* @param initialNotify whether to run the callback with the initial state
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterActiveCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Check whether the accelerometer is active.
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*
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* @return true if active
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*/
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bool GetActive() const;
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/**
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* Define whether this accelerometer is active.
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*
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* @param active the new state
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*/
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void SetActive(bool active);
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/**
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* Register a callback to be run whenever the range changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterRangeCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Check the range of this accelerometer.
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*
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* @return the accelerometer range
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*/
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int GetRange() const;
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/**
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* Change the range of this accelerometer.
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*
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* @param range the new accelerometer range
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*/
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void SetRange(int range);
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/**
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* Register a callback to be run whenever the X axis value changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterXCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Measure the X axis value.
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*
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* @return the X axis measurement
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*/
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double GetX() const;
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/**
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* Change the X axis value of the accelerometer.
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*
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* @param x the new reading of the X axis
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*/
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void SetX(double x);
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/**
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* Register a callback to be run whenever the Y axis value changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterYCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Measure the Y axis value.
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*
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* @return the Y axis measurement
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*/
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double GetY() const;
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/**
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* Change the Y axis value of the accelerometer.
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*
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* @param y the new reading of the Y axis
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*/
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void SetY(double y);
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/**
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* Register a callback to be run whenever the Z axis value changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterZCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Measure the Z axis value.
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*
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* @return the Z axis measurement
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*/
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double GetZ() const;
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/**
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* Change the Z axis value of the accelerometer.
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*
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* @param z the new reading of the Z axis
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*/
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void SetZ(double z);
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/**
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* Reset all simulation data of this object.
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*/
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void ResetData();
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private:
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int m_index;
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};
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} // namespace frc::sim
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