Renamed folders for consistency, using sim/athena/shared schema (#27)

Rename the following folders: hal/lib/Athena -> hal/lib/athena hal/lib/Desktop -> hal/lib/sim hal/lib/Shared -> hal/lib/shared wpilibc/Athena -> wpilibc/athena wpilibc/simulation -> wpilibc/sim Windows users may need to run gradlew clean after updating.
2026-06-29 02:21:44 +00:00 · 2016-05-22 17:55:51 -04:00
parent 54092378e9
commit e71f454b9d
308 changed files with 14 additions and 14 deletions
--- a/wpilibc/athena/src/ADXL345_I2C.cpp
+++ b/wpilibc/athena/src/ADXL345_I2C.cpp
@@ -0,0 +1,92 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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.hpp"
+#include "I2C.h"
+#include "LiveWindow/LiveWindow.h"
+
+const uint8_t ADXL345_I2C::kAddress;
+const uint8_t ADXL345_I2C::kPowerCtlRegister;
+const uint8_t ADXL345_I2C::kDataFormatRegister;
+const uint8_t 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(Port port, Range range, int deviceAddress)
+    : I2C(port, deviceAddress) {
+  // Turn on the measurements
+  Write(kPowerCtlRegister, kPowerCtl_Measure);
+  // Specify the data format to read
+  SetRange(range);
+
+  HALReport(HALUsageReporting::kResourceType_ADXL345,
+            HALUsageReporting::kADXL345_I2C, 0);
+  LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this);
+}
+
+void ADXL345_I2C::SetRange(Range range) {
+  Write(kDataFormatRegister, kDataFormat_FullRes | (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;
+  Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel), (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];
+  Read(kDataRegister, sizeof(rawData), (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; }