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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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127
wpilibc/src/main/native/cpp/ADXL345_SPI.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_SPI.h"
#include "DigitalInput.h"
#include "DigitalOutput.h"
#include "HAL/HAL.h"
#include "LiveWindow/LiveWindow.h"
using namespace frc;
const int ADXL345_SPI::kPowerCtlRegister;
const int ADXL345_SPI::kDataFormatRegister;
const int ADXL345_SPI::kDataRegister;
constexpr double ADXL345_SPI::kGsPerLSB;
/**
* Constructor.
*
* @param port The SPI port the accelerometer is attached to
* @param range The range (+ or -) that the accelerometer will measure
*/
ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
: m_spi(port) {
m_spi.SetClockRate(500000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnFalling();
m_spi.SetClockActiveLow();
m_spi.SetChipSelectActiveHigh();
uint8_t commands[2];
// Turn on the measurements
commands[0] = kPowerCtlRegister;
commands[1] = kPowerCtl_Measure;
m_spi.Transaction(commands, commands, 2);
SetRange(range);
HAL_Report(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_SPI);
LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this);
}
void ADXL345_SPI::SetRange(Range range) {
uint8_t commands[2];
// Specify the data format to read
commands[0] = kDataFormatRegister;
commands[1] = kDataFormat_FullRes | static_cast<uint8_t>(range & 0x03);
m_spi.Transaction(commands, commands, 2);
}
double ADXL345_SPI::GetX() { return GetAcceleration(kAxis_X); }
double ADXL345_SPI::GetY() { return GetAcceleration(kAxis_Y); }
double ADXL345_SPI::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_SPI::GetAcceleration(ADXL345_SPI::Axes axis) {
uint8_t buffer[3];
uint8_t command[3] = {0, 0, 0};
command[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister) +
static_cast<uint8_t>(axis);
m_spi.Transaction(command, buffer, 3);
// Sensor is little endian... swap bytes
int16_t rawAccel = buffer[2] << 8 | buffer[1];
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_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
AllAxes data = AllAxes();
uint8_t dataBuffer[7] = {0, 0, 0, 0, 0, 0, 0};
int16_t rawData[3];
// Select the data address.
dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
m_spi.Transaction(dataBuffer, dataBuffer, 7);
for (int i = 0; i < 3; i++) {
// Sensor is little endian... swap bytes
rawData[i] = dataBuffer[i * 2 + 2] << 8 | dataBuffer[i * 2 + 1];
}
data.XAxis = rawData[0] * kGsPerLSB;
data.YAxis = rawData[1] * kGsPerLSB;
data.ZAxis = rawData[2] * kGsPerLSB;
return data;
}
std::string ADXL345_SPI::GetSmartDashboardType() const {
return "3AxisAccelerometer";
}
void ADXL345_SPI::InitTable(std::shared_ptr<ITable> subtable) {
m_table = subtable;
UpdateTable();
}
void ADXL345_SPI::UpdateTable() {
if (m_table != nullptr) {
m_table->PutNumber("X", GetX());
m_table->PutNumber("Y", GetY());
m_table->PutNumber("Z", GetZ());
}
}
std::shared_ptr<ITable> ADXL345_SPI::GetTable() const { return m_table; }