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.
2026-07-02 02:51:42 +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_SPI.h
+++ b/wpilibc/src/main/native/include/frc/ADXL345_SPI.h
@@ -0,0 +1,98 @@
+/*----------------------------------------------------------------------------*/
+/* 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/SPI.h"
+#include "frc/interfaces/Accelerometer.h"
+#include "frc/smartdashboard/SendableBase.h"
+
+namespace frc {
+
+/**
+ * ADXL345 Accelerometer on SPI.
+ *
+ * This class allows access to an Analog Devices ADXL345 3-axis accelerometer
+ * via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
+ */
+class ADXL345_SPI : 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;
+  };
+
+  /**
+   * Constructor.
+   *
+   * @param port  The SPI port the accelerometer is attached to
+   * @param range The range (+ or -) that the accelerometer will measure
+   */
+  explicit ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
+
+  ~ADXL345_SPI() override = default;
+
+  ADXL345_SPI(const ADXL345_SPI&) = delete;
+  ADXL345_SPI& operator=(const ADXL345_SPI&) = 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:
+  SPI m_spi;
+
+  static constexpr int kPowerCtlRegister = 0x2D;
+  static constexpr int kDataFormatRegister = 0x31;
+  static constexpr int kDataRegister = 0x32;
+  static constexpr double kGsPerLSB = 0.00390625;
+
+  enum SPIAddressFields { kAddress_Read = 0x80, kAddress_MultiByte = 0x40 };
+
+  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