mirror of
https://github.com/wpilibsuite/allwpilib
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f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 FIRST. All Rights Reserved. */
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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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "SPI.h"
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#include "SensorBase.h"
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#include "interfaces/Accelerometer.h"
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namespace frc {
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/**
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* ADXL362 SPI Accelerometer.
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*
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* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
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*/
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class ADXL362 : public SensorBase, public Accelerometer {
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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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explicit ADXL362(Range range = kRange_2G);
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explicit ADXL362(SPI::Port port, Range range = kRange_2G);
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virtual ~ADXL362() = default;
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ADXL362(const ADXL362&) = delete;
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ADXL362& operator=(const ADXL362&) = delete;
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// Accelerometer interface
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void SetRange(Range range) override;
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double GetX() override;
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double GetY() override;
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double GetZ() override;
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virtual double GetAcceleration(Axes axis);
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virtual AllAxes GetAccelerations();
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void InitSendable(SendableBuilder& builder) override;
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private:
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SPI m_spi;
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double m_gsPerLSB = 0.001;
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};
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} // namespace frc
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