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https://github.com/wpilibsuite/allwpilib
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60 lines
2.1 KiB
C++
60 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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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#include <memory>
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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
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* multiple axis and can be treated as multiple devices. Each is calibrated by
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* finding
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* 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(int32_t channel);
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[[deprecated(
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"Raw pointers are deprecated; if you just want to construct an "
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"AnalogAccelerometer with its own AnalogInput, then call the "
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"AnalogAccelerometer(int channel). If you want to keep your own copy of "
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"the AnalogInput, use std::shared_ptr.")]]
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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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float GetAcceleration() const;
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void SetSensitivity(float sensitivity);
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void SetZero(float zero);
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double PIDGet() const 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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float m_voltsPerG = 1.0;
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float m_zeroGVoltage = 2.5;
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bool m_allocatedChannel;
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std::shared_ptr<ITable> m_table = nullptr;
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};
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