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[hal, wpilib] Remove analog accumulator and analog gyro (#7697)

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The 2 high level classes were temporarily kept to keep the examples compiling. We will remove those when we have the interface into the built in IMU.
This commit is contained in:
Thad House
2025-01-17 12:58:31 -08:00
committed by GitHub
parent 92f0a3c961
commit f80874dd4b
76 changed files with 33 additions and 3886 deletions
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65
wpilibc/src/main/native/cpp/AnalogInput.cpp
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@@ -6,7 +6,6 @@
#include <string>
#include <hal/AnalogAccumulator.h>
#include <hal/AnalogInput.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
@@ -111,70 +110,6 @@ int AnalogInput::GetOffset() const {
return offset;
}
bool AnalogInput::IsAccumulatorChannel() const {
int32_t status = 0;
bool isAccum = HAL_IsAccumulatorChannel(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return isAccum;
}
void AnalogInput::InitAccumulator() {
m_accumulatorOffset = 0;
int32_t status = 0;
HAL_InitAccumulator(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void AnalogInput::SetAccumulatorInitialValue(int64_t initialValue) {
m_accumulatorOffset = initialValue;
}
void AnalogInput::ResetAccumulator() {
int32_t status = 0;
HAL_ResetAccumulator(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
// Wait until the next sample, so the next call to GetAccumulator*()
// won't have old values.
const double sampleTime = 1.0 / GetSampleRate();
const double overSamples = 1 << GetOversampleBits();
const double averageSamples = 1 << GetAverageBits();
Wait(units::second_t{sampleTime * overSamples * averageSamples});
}
void AnalogInput::SetAccumulatorCenter(int center) {
int32_t status = 0;
HAL_SetAccumulatorCenter(m_port, center, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void AnalogInput::SetAccumulatorDeadband(int deadband) {
int32_t status = 0;
HAL_SetAccumulatorDeadband(m_port, deadband, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
int64_t AnalogInput::GetAccumulatorValue() const {
int32_t status = 0;
int64_t value = HAL_GetAccumulatorValue(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return value + m_accumulatorOffset;
}
int64_t AnalogInput::GetAccumulatorCount() const {
int32_t status = 0;
int64_t count = HAL_GetAccumulatorCount(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return count;
}
void AnalogInput::GetAccumulatorOutput(int64_t& value, int64_t& count) const {
int32_t status = 0;
HAL_GetAccumulatorOutput(m_port, &value, &count, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
value += m_accumulatorOffset;
}
void AnalogInput::SetSampleRate(double samplesPerSecond) {
int32_t status = 0;
HAL_SetAnalogSampleRate(samplesPerSecond, &status);