Move CameraServer and WPILib headers into their own folder

The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
2026-07-03 03:01:44 +00:00 · 2018-07-20 00:03:45 -07:00
parent 31ced30c1e
commit d89b7dd412
728 changed files with 1876 additions and 1851 deletions
--- a/wpilibc/src/main/native/include/frc/ADXL345_I2C.h
+++ b/wpilibc/src/main/native/include/frc/ADXL345_I2C.h
@@ -0,0 +1,99 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/ErrorBase.h"
+#include "frc/I2C.h"
+#include "frc/interfaces/Accelerometer.h"
+#include "frc/smartdashboard/SendableBase.h"
+
+namespace frc {
+
+/**
+ * ADXL345 Accelerometer on I2C.
+ *
+ * This class allows access to a Analog Devices ADXL345 3-axis accelerometer on
+ * an I2C bus. This class assumes the default (not alternate) sensor address of
+ * 0x1D (7-bit address).
+ */
+class ADXL345_I2C : public ErrorBase,
+                    public SendableBase,
+                    public Accelerometer {
+ public:
+  enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+
+  struct AllAxes {
+    double XAxis;
+    double YAxis;
+    double ZAxis;
+  };
+
+  /**
+   * Constructs the ADXL345 Accelerometer over I2C.
+   *
+   * @param port          The I2C port the accelerometer is attached to
+   * @param range         The range (+ or -) that the accelerometer will measure
+   * @param deviceAddress The I2C address of the accelerometer (0x1D or 0x53)
+   */
+  explicit ADXL345_I2C(I2C::Port port, Range range = kRange_2G,
+                       int deviceAddress = kAddress);
+  ~ADXL345_I2C() override = default;
+
+  ADXL345_I2C(const ADXL345_I2C&) = delete;
+  ADXL345_I2C& operator=(const ADXL345_I2C&) = delete;
+
+  // Accelerometer interface
+  void SetRange(Range range) override;
+  double GetX() override;
+  double GetY() override;
+  double GetZ() override;
+
+  /**
+   * Get the acceleration of one axis in Gs.
+   *
+   * @param axis The axis to read from.
+   * @return Acceleration of the ADXL345 in Gs.
+   */
+  virtual double GetAcceleration(Axes axis);
+
+  /**
+   * Get the acceleration of all axes in Gs.
+   *
+   * @return An object containing the acceleration measured on each axis of the
+   *         ADXL345 in Gs.
+   */
+  virtual AllAxes GetAccelerations();
+
+  void InitSendable(SendableBuilder& builder) override;
+
+ protected:
+  I2C m_i2c;
+
+  static constexpr int kAddress = 0x1D;
+  static constexpr int kPowerCtlRegister = 0x2D;
+  static constexpr int kDataFormatRegister = 0x31;
+  static constexpr int kDataRegister = 0x32;
+  static constexpr double kGsPerLSB = 0.00390625;
+
+  enum PowerCtlFields {
+    kPowerCtl_Link = 0x20,
+    kPowerCtl_AutoSleep = 0x10,
+    kPowerCtl_Measure = 0x08,
+    kPowerCtl_Sleep = 0x04
+  };
+
+  enum DataFormatFields {
+    kDataFormat_SelfTest = 0x80,
+    kDataFormat_SPI = 0x40,
+    kDataFormat_IntInvert = 0x20,
+    kDataFormat_FullRes = 0x08,
+    kDataFormat_Justify = 0x04
+  };
+};
+
+}  // namespace frc