/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2018 FIRST. 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 "ErrorBase.h"
#include "SmartDashboard/SendableBase.h"
#include "interfaces/Accelerometer.h"

namespace frc {

/**
 * Built-in accelerometer.
 *
 * This class allows access to the roboRIO's internal accelerometer.
 */
class BuiltInAccelerometer : public ErrorBase,
                             public SendableBase,
                             public Accelerometer {
 public:
  explicit BuiltInAccelerometer(Range range = kRange_8G);

  // Accelerometer interface
  void SetRange(Range range) override;
  double GetX() override;
  double GetY() override;
  double GetZ() override;

  void InitSendable(SendableBuilder& builder) override;
};

}  // namespace frc