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https://github.com/wpilibsuite/allwpilib
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b417d961ec
The non-NT portion has been moved to wpiutil. The NT portion has been moved to ntcore (as NTSendable). SendableBuilder similarly split and moved. SendableRegistry moved to wpiutil. In C++, SendableHelper also moved to wpiutil. This enables use of Sendable from wpimath and also enables moving several classes from wpilib to wpimath.
109 lines
3.2 KiB
C++
109 lines
3.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <memory>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/AnalogInput.h"
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namespace frc {
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/**
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* Handle operation of an analog accelerometer.
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*
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* The accelerometer reads acceleration directly through the sensor. Many
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* sensors have multiple axis and can be treated as multiple devices. Each is
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* calibrated by finding the center value over a period of time.
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*/
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class AnalogAccelerometer : public wpi::Sendable,
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public wpi::SendableHelper<AnalogAccelerometer> {
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public:
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/**
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* Create a new instance of an accelerometer.
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*
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* The constructor allocates desired analog input.
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*
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* @param channel The channel number for the analog input the accelerometer is
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* connected to
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*/
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explicit AnalogAccelerometer(int channel);
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/**
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* Create a new instance of Accelerometer from an existing AnalogInput.
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*
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* Make a new instance of accelerometer given an AnalogInput. This is
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* particularly useful if the port is going to be read as an analog channel as
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* well as through the Accelerometer class.
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*
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* @param channel The existing AnalogInput object for the analog input the
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* accelerometer is connected to
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*/
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explicit AnalogAccelerometer(AnalogInput* channel);
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/**
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* Create a new instance of Accelerometer from an existing AnalogInput.
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*
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* Make a new instance of accelerometer given an AnalogInput. This is
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* particularly useful if the port is going to be read as an analog channel as
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* well as through the Accelerometer class.
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*
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* @param channel The existing AnalogInput object for the analog input the
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* accelerometer is connected to
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*/
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explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
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~AnalogAccelerometer() override = default;
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AnalogAccelerometer(AnalogAccelerometer&&) = default;
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AnalogAccelerometer& operator=(AnalogAccelerometer&&) = default;
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/**
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* Return the acceleration in Gs.
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*
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* The acceleration is returned units of Gs.
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*
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* @return The current acceleration of the sensor in Gs.
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*/
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double GetAcceleration() const;
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/**
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* Set the accelerometer sensitivity.
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*
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* This sets the sensitivity of the accelerometer used for calculating the
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* acceleration. The sensitivity varies by accelerometer model. There are
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* constants defined for various models.
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*
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* @param sensitivity The sensitivity of accelerometer in Volts per G.
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*/
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void SetSensitivity(double sensitivity);
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/**
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* Set the voltage that corresponds to 0 G.
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*
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* The zero G voltage varies by accelerometer model. There are constants
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* defined for various models.
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*
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* @param zero The zero G voltage.
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*/
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void SetZero(double zero);
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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/**
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* Common function for initializing the accelerometer.
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*/
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void InitAccelerometer();
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std::shared_ptr<AnalogInput> m_analogInput;
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double m_voltsPerG = 1.0;
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double m_zeroGVoltage = 2.5;
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};
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} // namespace frc
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