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https://github.com/wpilibsuite/allwpilib
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48 lines
1.5 KiB
C++
48 lines
1.5 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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#pragma once
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#include "AnalogInput.h"
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#include "SensorBase.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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/**
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* Handle operation of the accelerometer.
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* The accelerometer reads acceleration directly through the sensor. Many sensors have
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* multiple axis and can be treated as multiple devices. Each is calibrated by finding
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* the center value over a period of time.
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*/
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class Accelerometer : public SensorBase, public PIDSource, public LiveWindowSendable {
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public:
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explicit Accelerometer(uint32_t channel);
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Accelerometer(uint8_t moduleNumber, uint32_t channel);
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explicit Accelerometer(AnalogInput *channel);
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virtual ~Accelerometer();
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float GetAcceleration();
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void SetSensitivity(float sensitivity);
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void SetZero(float zero);
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double PIDGet();
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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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void InitAccelerometer();
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AnalogInput *m_AnalogInput;
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float m_voltsPerG;
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float m_zeroGVoltage;
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bool m_allocatedChannel;
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ITable *m_table;
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};
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