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Update to 2018_v4 image and new build system. (#598)

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* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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98
wpilibc/src/main/native/cpp/ADXL345_I2C.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2017. 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. */
/*----------------------------------------------------------------------------*/
#include "ADXL345_I2C.h"
#include "HAL/HAL.h"
#include "I2C.h"
#include "LiveWindow/LiveWindow.h"
using namespace frc;
const int ADXL345_I2C::kAddress;
const int ADXL345_I2C::kPowerCtlRegister;
const int ADXL345_I2C::kDataFormatRegister;
const int ADXL345_I2C::kDataRegister;
constexpr double ADXL345_I2C::kGsPerLSB;
/**
* 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)
*/
ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
: m_i2c(port, deviceAddress) {
// Turn on the measurements
m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
// Specify the data format to read
SetRange(range);
HAL_Report(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_I2C, 0);
LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this);
}
void ADXL345_I2C::SetRange(Range range) {
m_i2c.Write(kDataFormatRegister,
kDataFormat_FullRes | static_cast<uint8_t>(range));
}
double ADXL345_I2C::GetX() { return GetAcceleration(kAxis_X); }
double ADXL345_I2C::GetY() { return GetAcceleration(kAxis_Y); }
double ADXL345_I2C::GetZ() { return GetAcceleration(kAxis_Z); }
/**
* Get the acceleration of one axis in Gs.
*
* @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;
m_i2c.Read(kDataRegister + static_cast<int>(axis), sizeof(rawAccel),
reinterpret_cast<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.
*/
ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
AllAxes data = AllAxes();
int16_t rawData[3];
m_i2c.Read(kDataRegister, sizeof(rawData),
reinterpret_cast<uint8_t*>(rawData));
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";
}
void ADXL345_I2C::InitTable(std::shared_ptr<ITable> subtable) {
m_table = subtable;
UpdateTable();
}
void ADXL345_I2C::UpdateTable() {
m_table->PutNumber("X", GetX());
m_table->PutNumber("Y", GetY());
m_table->PutNumber("Z", GetZ());
}
std::shared_ptr<ITable> ADXL345_I2C::GetTable() const { return m_table; }