mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
59267da72b
Base.h provides a backwards compatibility shim (enabled unless NAMESPACED_WPILIB is defined) that does a "using namespace frc". However, as some header files do not include Base.h, this may be a breaking change in some corner cases (with an easy fix). Fixes #218.
58 lines
1.9 KiB
C++
58 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. 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 <memory>
|
|
#include <string>
|
|
|
|
#include "AnalogInput.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "PIDSource.h"
|
|
#include "SensorBase.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Handle operation of an analog accelerometer.
|
|
* The accelerometer reads acceleration directly through the sensor. Many
|
|
* sensors have multiple axis and can be treated as multiple devices. Each is
|
|
* calibrated by finding the center value over a period of time.
|
|
*/
|
|
class AnalogAccelerometer : public SensorBase,
|
|
public PIDSource,
|
|
public LiveWindowSendable {
|
|
public:
|
|
explicit AnalogAccelerometer(int channel);
|
|
explicit AnalogAccelerometer(AnalogInput* channel);
|
|
explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
|
|
virtual ~AnalogAccelerometer() = default;
|
|
|
|
float GetAcceleration() const;
|
|
void SetSensitivity(float sensitivity);
|
|
void SetZero(float zero);
|
|
double PIDGet() override;
|
|
|
|
void UpdateTable() override;
|
|
void StartLiveWindowMode() override;
|
|
void StopLiveWindowMode() override;
|
|
std::string GetSmartDashboardType() const override;
|
|
void InitTable(std::shared_ptr<ITable> subTable) override;
|
|
std::shared_ptr<ITable> GetTable() const override;
|
|
|
|
private:
|
|
void InitAccelerometer();
|
|
|
|
std::shared_ptr<AnalogInput> m_analogInput;
|
|
float m_voltsPerG = 1.0;
|
|
float m_zeroGVoltage = 2.5;
|
|
|
|
std::shared_ptr<ITable> m_table;
|
|
};
|
|
|
|
} // namespace frc
|