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https://github.com/wpilibsuite/allwpilib
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58021f7397
AnalogModule and DigitalModule classes still exist, at least until they are refactored into the classes that use them. Change-Id: I5544d5418822f19d54ba0a5d651e64fad8b7b10d
106 lines
2.6 KiB
C++
106 lines
2.6 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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#include "HiTechnicCompass.h"
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#include "DigitalModule.h"
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#include "I2C.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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const uint8_t HiTechnicCompass::kAddress;
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const uint8_t HiTechnicCompass::kManufacturerBaseRegister;
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const uint8_t HiTechnicCompass::kManufacturerSize;
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const uint8_t HiTechnicCompass::kSensorTypeBaseRegister;
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const uint8_t HiTechnicCompass::kSensorTypeSize;
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const uint8_t HiTechnicCompass::kHeadingRegister;
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/**
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* Constructor.
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*/
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HiTechnicCompass::HiTechnicCompass()
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: m_i2c (NULL)
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{
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m_table = NULL;
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DigitalModule *module = DigitalModule::GetInstance(1);
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if (module)
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{
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m_i2c = module->GetI2C(kAddress);
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// Verify Sensor
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const uint8_t kExpectedManufacturer[] = "HiTechnc";
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const uint8_t kExpectedSensorType[] = "Compass ";
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if ( ! m_i2c->VerifySensor(kManufacturerBaseRegister, kManufacturerSize, kExpectedManufacturer) )
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{
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wpi_setWPIError(CompassManufacturerError);
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return;
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}
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if ( ! m_i2c->VerifySensor(kSensorTypeBaseRegister, kSensorTypeSize, kExpectedSensorType) )
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{
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wpi_setWPIError(CompassTypeError);
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}
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HALReport(HALUsageReporting::kResourceType_HiTechnicCompass, 0);
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LiveWindow::GetInstance()->AddSensor("HiTechnicCompass", 1, this);
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}
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}
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/**
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* Destructor.
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*/
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HiTechnicCompass::~HiTechnicCompass()
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{
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delete m_i2c;
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m_i2c = NULL;
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}
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/**
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* Get the compass angle in degrees.
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*
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* The resolution of this reading is 1 degree.
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*
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* @return Angle of the compass in degrees.
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*/
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float HiTechnicCompass::GetAngle()
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{
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uint16_t heading = 0;
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if (m_i2c)
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{
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m_i2c->Read(kHeadingRegister, sizeof(heading), (uint8_t *)&heading);
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// Sensor is little endian... swap bytes
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heading = (heading >> 8) | (heading << 8);
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}
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return (float)heading;
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}
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void HiTechnicCompass::UpdateTable() {
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if (m_table != NULL) {
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m_table->PutNumber("Value", GetAngle());
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}
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}
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void HiTechnicCompass::StartLiveWindowMode() {
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}
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void HiTechnicCompass::StopLiveWindowMode() {
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}
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std::string HiTechnicCompass::GetSmartDashboardType() {
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return "HiTechnicCompass";
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}
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void HiTechnicCompass::InitTable(ITable *subTable) {
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m_table = subTable;
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UpdateTable();
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}
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ITable * HiTechnicCompass::GetTable() {
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return m_table;
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}
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