mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "interfaces/Accelerometer.h"
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#include "SensorBase.h"
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#include "SPI.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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class DigitalInput;
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class DigitalOutput;
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/**
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* ADXL345 Accelerometer on SPI.
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*
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* This class allows access to an Analog Devices ADXL345 3-axis accelerometer
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* via SPI.
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* This class assumes the sensor is wired in 4-wire SPI mode.
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*/
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class ADXL345_SPI : public Accelerometer,
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protected SPI,
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public LiveWindowSendable {
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protected:
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static const uint8_t kPowerCtlRegister = 0x2D;
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static const uint8_t kDataFormatRegister = 0x31;
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static const uint8_t kDataRegister = 0x32;
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static constexpr double kGsPerLSB = 0.00390625;
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enum SPIAddressFields { kAddress_Read = 0x80, kAddress_MultiByte = 0x40 };
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enum PowerCtlFields {
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kPowerCtl_Link = 0x20,
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kPowerCtl_AutoSleep = 0x10,
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kPowerCtl_Measure = 0x08,
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kPowerCtl_Sleep = 0x04
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};
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enum DataFormatFields {
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kDataFormat_SelfTest = 0x80,
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kDataFormat_SPI = 0x40,
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kDataFormat_IntInvert = 0x20,
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kDataFormat_FullRes = 0x08,
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kDataFormat_Justify = 0x04
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};
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public:
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enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
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struct AllAxes {
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double XAxis;
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double YAxis;
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double ZAxis;
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};
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public:
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ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
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virtual ~ADXL345_SPI() = default;
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ADXL345_SPI(const ADXL345_SPI&) = delete;
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ADXL345_SPI& operator=(const ADXL345_SPI&) = delete;
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// Accelerometer interface
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virtual void SetRange(Range range) override;
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virtual double GetX() override;
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virtual double GetY() override;
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virtual double GetZ() override;
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virtual double GetAcceleration(Axes axis);
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virtual AllAxes GetAccelerations();
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virtual std::string GetSmartDashboardType() const override;
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virtual void InitTable(std::shared_ptr<ITable> subtable) override;
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virtual void UpdateTable() override;
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virtual std::shared_ptr<ITable> GetTable() const override;
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virtual void StartLiveWindowMode() override {}
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virtual void StopLiveWindowMode() override {}
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private:
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std::shared_ptr<ITable> m_table;
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};
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