Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Rename ADXL345_I2C constants to all caps

Browse Source
This commit is contained in:
Peter Johnson
2026-03-20 20:35:13 -07:00
parent ea32c247db
commit f2929af00f
7 changed files with 145 additions and 156 deletions
Download Patch File Download Diff File Expand all files Collapse all files

123
wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java
View File

@@ -21,49 +21,37 @@ import org.wpilib.util.sendable.SendableRegistry;
@SuppressWarnings("TypeName")
public class ADXL345_I2C implements NTSendable, AutoCloseable {
/** Default I2C device address. */
public static final byte kAddress = 0x1D;
public static final byte DEFAULT_ADDRESS = 0x1D;
private static final byte kPowerCtlRegister = 0x2D;
private static final byte kDataFormatRegister = 0x31;
private static final byte kDataRegister = 0x32;
private static final double kGsPerLSB = 0.00390625;
// private static final byte kPowerCtl_Link = 0x20;
// private static final byte kPowerCtl_AutoSleep = 0x10;
private static final byte kPowerCtl_Measure = 0x08;
// private static final byte kPowerCtl_Sleep = 0x04;
private static final byte POWER_CTL_REGISTER = 0x2D;
private static final byte DATA_FORMAT_REGISTER = 0x31;
private static final byte DATA_REGISTER = 0x32;
private static final double GS_PER_LSB = 0.00390625;
// private static final byte POWER_CTL_LINK = 0x20;
// private static final byte POWER_CTL_AUTO_SLEEP = 0x10;
private static final byte POWER_CTL_MEASURE = 0x08;
// private static final byte POWER_CTL_SLEEP = 0x04;
// private static final byte kDataFormat_SelfTest = (byte) 0x80;
// private static final byte kDataFormat_SPI = 0x40;
// private static final byte kDataFormat_IntInvert = 0x20;
private static final byte kDataFormat_FullRes = 0x08;
// private static final byte DATA_FORMAT_SELF_TEST = (byte) 0x80;
// private static final byte DATA_FORMAT_SPI = 0x40;
// private static final byte DATA_FORMAT_INT_INVERT = 0x20;
private static final byte DATA_FORMAT_FULL_RES = 0x08;
// private static final byte kDataFormat_Justify = 0x04;
/** Accelerometer range. */
public enum Range {
/** 2 Gs max. */
k2G,
/** 4 Gs max. */
k4G,
/** 8 Gs max. */
k8G,
/** 16 Gs max. */
k16G
}
// private static final byte DATA_FORMAT_JUSTIFY = 0x04;
/** Accelerometer axes. */
public enum Axes {
public enum Axis {
/** X axis. */
kX((byte) 0x00),
X((byte) 0x00),
/** Y axis. */
kY((byte) 0x02),
Y((byte) 0x02),
/** Z axis. */
kZ((byte) 0x04);
Z((byte) 0x04);
/** The integer value representing this enumeration. */
public final byte value;
Axes(byte value) {
Axis(byte value) {
this.value = value;
}
}
@@ -72,13 +60,13 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
@SuppressWarnings("MemberName")
public static class AllAxes {
/** Acceleration along the X axis in g-forces. */
public double XAxis;
public double x;
/** Acceleration along the Y axis in g-forces. */
public double YAxis;
public double y;
/** Acceleration along the Z axis in g-forces. */
public double ZAxis;
public double z;
/** Default constructor. */
public AllAxes() {}
@@ -96,21 +84,23 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
* Constructs the ADXL345 Accelerometer with I2C address 0x1D.
*
* @param port The I2C port the accelerometer is attached to
* @param range The range (+ or -) that the accelerometer will measure.
* @param range The range (+ or -) that the accelerometer will measure. Valid values are 2, 4, 8,
* or 16 Gs.
*/
public ADXL345_I2C(I2C.Port port, Range range) {
this(port, range, kAddress);
public ADXL345_I2C(I2C.Port port, int range) {
this(port, range, DEFAULT_ADDRESS);
}
/**
* 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 range The range (+ or -) that the accelerometer will measure. Valid values are 2, 4, 8,
* or 16 Gs.
* @param deviceAddress I2C address of the accelerometer (0x1D or 0x53)
*/
@SuppressWarnings("this-escape")
public ADXL345_I2C(I2C.Port port, Range range, int deviceAddress) {
public ADXL345_I2C(I2C.Port port, int range, int deviceAddress) {
m_i2c = new I2C(port, deviceAddress);
// simulation
@@ -129,7 +119,7 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
}
// Turn on the measurements
m_i2c.write(kPowerCtlRegister, kPowerCtl_Measure);
m_i2c.write(POWER_CTL_REGISTER, POWER_CTL_MEASURE);
setRange(range);
@@ -172,19 +162,20 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
* Set the measuring range of the accelerometer.
*
* @param range The maximum acceleration, positive or negative, that the accelerometer will
* measure.
* measure. Valid values are 2, 4, 8, or 16 Gs.
*/
public final void setRange(Range range) {
public final void setRange(int range) {
final byte value =
switch (range) {
case k2G -> 0;
case k4G -> 1;
case k8G -> 2;
case k16G -> 3;
case 2 -> 0;
case 4 -> 1;
case 8 -> 2;
case 16 -> 3;
default -> 0; // default to 2G if invalid value is passed in
};
// Specify the data format to read
m_i2c.write(kDataFormatRegister, kDataFormat_FullRes | value);
m_i2c.write(DATA_FORMAT_REGISTER, DATA_FORMAT_FULL_RES | value);
if (m_simRange != null) {
m_simRange.set(value);
@@ -197,7 +188,7 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
* @return The acceleration along the X axis in g-forces.
*/
public double getX() {
return getAcceleration(Axes.kX);
return getAcceleration(Axis.X);
}
/**
@@ -206,7 +197,7 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
* @return The acceleration along the Y axis in g-forces.
*/
public double getY() {
return getAcceleration(Axes.kY);
return getAcceleration(Axis.Y);
}
/**
@@ -215,7 +206,7 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
* @return The acceleration along the Z axis in g-forces.
*/
public double getZ() {
return getAcceleration(Axes.kZ);
return getAcceleration(Axis.Z);
}
/**
@@ -224,22 +215,22 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
* @param axis The axis to read from.
* @return Acceleration of the ADXL345 in Gs.
*/
public double getAcceleration(Axes axis) {
if (axis == Axes.kX && m_simX != null) {
public double getAcceleration(Axis axis) {
if (axis == Axis.X && m_simX != null) {
return m_simX.get();
}
if (axis == Axes.kY && m_simY != null) {
if (axis == Axis.Y && m_simY != null) {
return m_simY.get();
}
if (axis == Axes.kZ && m_simZ != null) {
if (axis == Axis.Z && m_simZ != null) {
return m_simZ.get();
}
ByteBuffer rawAccel = ByteBuffer.allocate(2);
m_i2c.read(kDataRegister + axis.value, 2, rawAccel);
m_i2c.read(DATA_REGISTER + axis.value, 2, rawAccel);
// Sensor is little endian... swap bytes
rawAccel.order(ByteOrder.LITTLE_ENDIAN);
return rawAccel.getShort(0) * kGsPerLSB;
return rawAccel.getShort(0) * GS_PER_LSB;
}
/**
@@ -250,19 +241,19 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
public AllAxes getAccelerations() {
AllAxes data = new AllAxes();
if (m_simX != null && m_simY != null && m_simZ != null) {
data.XAxis = m_simX.get();
data.YAxis = m_simY.get();
data.ZAxis = m_simZ.get();
data.x = m_simX.get();
data.y = m_simY.get();
data.z = m_simZ.get();
return data;
}
ByteBuffer rawData = ByteBuffer.allocate(6);
m_i2c.read(kDataRegister, 6, rawData);
m_i2c.read(DATA_REGISTER, 6, rawData);
// Sensor is little endian... swap bytes
rawData.order(ByteOrder.LITTLE_ENDIAN);
data.XAxis = rawData.getShort(0) * kGsPerLSB;
data.YAxis = rawData.getShort(2) * kGsPerLSB;
data.ZAxis = rawData.getShort(4) * kGsPerLSB;
data.x = rawData.getShort(0) * GS_PER_LSB;
data.y = rawData.getShort(2) * GS_PER_LSB;
data.z = rawData.getShort(4) * GS_PER_LSB;
return data;
}
@@ -278,9 +269,9 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
builder.setUpdateTable(
() -> {
AllAxes data = getAccelerations();
pubX.set(data.XAxis);
pubY.set(data.YAxis);
pubZ.set(data.ZAxis);
pubX.set(data.x);
pubY.set(data.y);
pubZ.set(data.z);
});
}
}

12
wpilibj/src/test/java/org/wpilib/simulation/ADXL345SimTest.java
View File

@@ -7,15 +7,15 @@ package org.wpilib.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
import org.junit.jupiter.params.provider.ValueSource;
import org.wpilib.hardware.accelerometer.ADXL345_I2C;
import org.wpilib.hardware.bus.I2C;
import org.wpilib.hardware.hal.HAL;
class ADXL345SimTest {
@ParameterizedTest
@EnumSource(ADXL345_I2C.Range.class)
void testInitI2C(ADXL345_I2C.Range range) {
@ValueSource(ints = {2, 4, 8, 16})
void testInitI2C(int range) {
HAL.initialize(500, 0);
try (ADXL345_I2C accel = new ADXL345_I2C(I2C.Port.PORT_0, range)) {
@@ -30,9 +30,9 @@ class ADXL345SimTest {
assertEquals(2.29, accel.getZ());
ADXL345_I2C.AllAxes allAccel = accel.getAccelerations();
assertEquals(1.91, allAccel.XAxis);
assertEquals(-3.405, allAccel.YAxis);
assertEquals(2.29, allAccel.ZAxis);
assertEquals(1.91, allAccel.x);
assertEquals(-3.405, allAccel.y);
assertEquals(2.29, allAccel.z);
}
}
}