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https://github.com/wpilibsuite/allwpilib
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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
58 lines
1.9 KiB
C++
58 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#pragma once
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#include <memory>
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#include <string>
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#include "AnalogInput.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "PIDSource.h"
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#include "SensorBase.h"
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namespace frc {
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/**
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* Handle operation of an analog accelerometer.
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* The accelerometer reads acceleration directly through the sensor. Many
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* sensors have multiple axis and can be treated as multiple devices. Each is
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* calibrated by finding the center value over a period of time.
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*/
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class AnalogAccelerometer : public SensorBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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explicit AnalogAccelerometer(int channel);
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explicit AnalogAccelerometer(AnalogInput* channel);
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explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
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virtual ~AnalogAccelerometer() = default;
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double GetAcceleration() const;
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void SetSensitivity(double sensitivity);
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void SetZero(double zero);
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double PIDGet() override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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private:
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void InitAccelerometer();
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std::shared_ptr<AnalogInput> m_analogInput;
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double m_voltsPerG = 1.0;
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double m_zeroGVoltage = 2.5;
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std::shared_ptr<ITable> m_table;
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};
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} // namespace frc
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