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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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89
wpilibc/src/main/native/include/ADXL345_SPI.h 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include <string>
#include "LiveWindow/LiveWindowSendable.h"
#include "SPI.h"
#include "SensorBase.h"
#include "interfaces/Accelerometer.h"
namespace frc {
class DigitalInput;
class DigitalOutput;
/**
* 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 Accelerometer, public LiveWindowSendable {
protected:
static const int kPowerCtlRegister = 0x2D;
static const int kDataFormatRegister = 0x31;
static const 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
};
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
struct AllAxes {
double XAxis;
double YAxis;
double ZAxis;
};
public:
explicit ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
virtual ~ADXL345_SPI() = 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;
virtual double GetAcceleration(Axes axis);
virtual AllAxes GetAccelerations();
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subtable) override;
void UpdateTable() override;
std::shared_ptr<ITable> GetTable() const override;
void StartLiveWindowMode() override {}
void StopLiveWindowMode() override {}
protected:
SPI m_spi;
private:
std::shared_ptr<ITable> m_table;
};
} // namespace frc