mirror of
https://github.com/wpilibsuite/allwpilib
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fa809b2c4b
Based on run of include-what-you-use.org to identify unused include files in various .h and .cpp files. The changes mostly fall into 3 categories: - Actually unused includes - copy-paste errors, not removing includes after cleaning up code, etc - A too-broad include used where a more specific (and hopefully smaller) header will do - Interface .h files including headers only needed by the .cpp implementation - moving from .h to .cpp will mean that code which uses the .h doesn't pay the price of processing the header file they don't need
67 lines
2.2 KiB
C++
67 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2020 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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#include "frc/AnalogAccelerometer.h"
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#include <hal/FRCUsageReporting.h>
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#include "frc/Base.h"
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#include "frc/WPIErrors.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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AnalogAccelerometer::AnalogAccelerometer(int channel)
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: AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
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SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
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}
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AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
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: m_analogInput(channel, NullDeleter<AnalogInput>()) {
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if (channel == nullptr) {
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wpi_setWPIError(NullParameter);
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} else {
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InitAccelerometer();
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}
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}
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AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr<AnalogInput> channel)
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: m_analogInput(channel) {
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if (channel == nullptr) {
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wpi_setWPIError(NullParameter);
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} else {
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InitAccelerometer();
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}
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}
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double AnalogAccelerometer::GetAcceleration() const {
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return (m_analogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
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}
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void AnalogAccelerometer::SetSensitivity(double sensitivity) {
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m_voltsPerG = sensitivity;
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}
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void AnalogAccelerometer::SetZero(double zero) { m_zeroGVoltage = zero; }
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double AnalogAccelerometer::PIDGet() { return GetAcceleration(); }
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void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Accelerometer");
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builder.AddDoubleProperty(
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"Value", [=]() { return GetAcceleration(); }, nullptr);
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}
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void AnalogAccelerometer::InitAccelerometer() {
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HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
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m_analogInput->GetChannel() + 1);
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SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
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m_analogInput->GetChannel());
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}
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