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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef __HiTechnicCompass_h__
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#define __HiTechnicCompass_h__
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#include "SensorBase.h"
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#include "LiveWindow/LiveWindowSendable.h"
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class I2C;
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/**
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* HiTechnic NXT Compass.
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*
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* This class alows access to a HiTechnic NXT Compass on an I2C bus.
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* These sensors to not allow changing addresses so you cannot have more
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* than one on a single bus.
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*
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* Details on the sensor can be found here:
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* http://www.hitechnic.com/index.html?lang=en-us&target=d17.html
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*
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* @todo Implement a calibration method for the sensor.
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*/
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class HiTechnicCompass : public SensorBase, public LiveWindowSendable
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{
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public:
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explicit HiTechnicCompass(uint8_t moduleNumber);
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virtual ~HiTechnicCompass();
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float GetAngle();
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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static const uint8_t kAddress = 0x02;
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static const uint8_t kManufacturerBaseRegister = 0x08;
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static const uint8_t kManufacturerSize = 0x08;
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static const uint8_t kSensorTypeBaseRegister = 0x10;
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static const uint8_t kSensorTypeSize = 0x08;
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static const uint8_t kHeadingRegister = 0x44;
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I2C* m_i2c;
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ITable *m_table;
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};
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#endif
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