mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
69 lines
1.6 KiB
C++
69 lines
1.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include <wpi/sendable/Sendable.h>
|
|
#include <wpi/sendable/SendableHelper.h>
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Built-in accelerometer.
|
|
*
|
|
* This class allows access to the roboRIO's internal accelerometer.
|
|
*/
|
|
class BuiltInAccelerometer : public wpi::Sendable,
|
|
public wpi::SendableHelper<BuiltInAccelerometer> {
|
|
public:
|
|
/**
|
|
* Accelerometer range.
|
|
*/
|
|
enum Range {
|
|
/// 2 Gs max.
|
|
kRange_2G = 0,
|
|
/// 4 Gs max.
|
|
kRange_4G = 1,
|
|
/// 8 Gs max.
|
|
kRange_8G = 2
|
|
};
|
|
|
|
/**
|
|
* Constructor.
|
|
*
|
|
* @param range The range the accelerometer will measure
|
|
*/
|
|
explicit BuiltInAccelerometer(Range range = kRange_8G);
|
|
|
|
BuiltInAccelerometer(BuiltInAccelerometer&&) = default;
|
|
BuiltInAccelerometer& operator=(BuiltInAccelerometer&&) = default;
|
|
|
|
/**
|
|
* Set the measuring range of the accelerometer.
|
|
*
|
|
* @param range The maximum acceleration, positive or negative, that the
|
|
* accelerometer will measure.
|
|
*/
|
|
void SetRange(Range range);
|
|
|
|
/**
|
|
* @return The acceleration of the roboRIO along the X axis in g-forces
|
|
*/
|
|
double GetX();
|
|
|
|
/**
|
|
* @return The acceleration of the roboRIO along the Y axis in g-forces
|
|
*/
|
|
double GetY();
|
|
|
|
/**
|
|
* @return The acceleration of the roboRIO along the Z axis in g-forces
|
|
*/
|
|
double GetZ();
|
|
|
|
void InitSendable(wpi::SendableBuilder& builder) override;
|
|
};
|
|
|
|
} // namespace frc
|