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https://github.com/wpilibsuite/allwpilib
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5370f249a1
This upgrades to clang-format and clang-tidy 18.1.1. This has the constructor attribute formatting fix, so we can remove our WPI_DEPRECATED macro.
48 lines
1.4 KiB
C++
48 lines
1.4 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/BuiltInAccelerometer.h"
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#include <hal/Accelerometer.h>
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#include <hal/FRCUsageReporting.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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#include "frc/Errors.h"
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using namespace frc;
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BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
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SetRange(range);
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HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
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"Built-in accelerometer");
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wpi::SendableRegistry::AddLW(this, "BuiltInAccel");
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}
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void BuiltInAccelerometer::SetRange(Range range) {
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HAL_SetAccelerometerActive(false);
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HAL_SetAccelerometerRange(static_cast<HAL_AccelerometerRange>(range));
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HAL_SetAccelerometerActive(true);
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}
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double BuiltInAccelerometer::GetX() {
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return HAL_GetAccelerometerX();
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}
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double BuiltInAccelerometer::GetY() {
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return HAL_GetAccelerometerY();
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}
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double BuiltInAccelerometer::GetZ() {
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return HAL_GetAccelerometerZ();
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}
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void BuiltInAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("3AxisAccelerometer");
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builder.AddDoubleProperty("X", [=, this] { return GetX(); }, nullptr);
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builder.AddDoubleProperty("Y", [=, this] { return GetY(); }, nullptr);
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builder.AddDoubleProperty("Z", [=, this] { return GetZ(); }, nullptr);
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}
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