mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
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.
140 lines
4.1 KiB
C++
140 lines
4.1 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "AnalogAccelerometer.h"
|
|
|
|
#include "HAL/HAL.h"
|
|
#include "LiveWindow/LiveWindow.h"
|
|
#include "WPIErrors.h"
|
|
|
|
using namespace frc;
|
|
|
|
/**
|
|
* Common function for initializing the accelerometer.
|
|
*/
|
|
void AnalogAccelerometer::InitAccelerometer() {
|
|
HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
|
|
m_analogInput->GetChannel());
|
|
LiveWindow::GetInstance()->AddSensor("Accelerometer",
|
|
m_analogInput->GetChannel(), this);
|
|
}
|
|
|
|
/**
|
|
* Create a new instance of an accelerometer.
|
|
*
|
|
* The constructor allocates desired analog input.
|
|
*
|
|
* @param channel The channel number for the analog input the accelerometer is
|
|
* connected to
|
|
*/
|
|
AnalogAccelerometer::AnalogAccelerometer(int channel) {
|
|
m_analogInput = std::make_shared<AnalogInput>(channel);
|
|
InitAccelerometer();
|
|
}
|
|
|
|
/**
|
|
* Create a new instance of Accelerometer from an existing AnalogInput.
|
|
*
|
|
* Make a new instance of accelerometer given an AnalogInput. This is
|
|
* particularly useful if the port is going to be read as an analog channel as
|
|
* well as through the Accelerometer class.
|
|
*
|
|
* @param channel The existing AnalogInput object for the analog input the
|
|
* accelerometer is connected to
|
|
*/
|
|
AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
|
|
: m_analogInput(channel, NullDeleter<AnalogInput>()) {
|
|
if (channel == nullptr) {
|
|
wpi_setWPIError(NullParameter);
|
|
} else {
|
|
InitAccelerometer();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Create a new instance of Accelerometer from an existing AnalogInput.
|
|
*
|
|
* Make a new instance of accelerometer given an AnalogInput. This is
|
|
* particularly useful if the port is going to be read as an analog channel as
|
|
* well as through the Accelerometer class.
|
|
*
|
|
* @param channel The existing AnalogInput object for the analog input the
|
|
* accelerometer is connected to
|
|
*/
|
|
AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr<AnalogInput> channel)
|
|
: m_analogInput(channel) {
|
|
if (channel == nullptr) {
|
|
wpi_setWPIError(NullParameter);
|
|
} else {
|
|
InitAccelerometer();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Return the acceleration in Gs.
|
|
*
|
|
* The acceleration is returned units of Gs.
|
|
*
|
|
* @return The current acceleration of the sensor in Gs.
|
|
*/
|
|
double AnalogAccelerometer::GetAcceleration() const {
|
|
return (m_analogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
|
|
}
|
|
|
|
/**
|
|
* Set the accelerometer sensitivity.
|
|
*
|
|
* This sets the sensitivity of the accelerometer used for calculating the
|
|
* acceleration. The sensitivity varies by accelerometer model. There are
|
|
* constants defined for various models.
|
|
*
|
|
* @param sensitivity The sensitivity of accelerometer in Volts per G.
|
|
*/
|
|
void AnalogAccelerometer::SetSensitivity(double sensitivity) {
|
|
m_voltsPerG = sensitivity;
|
|
}
|
|
|
|
/**
|
|
* Set the voltage that corresponds to 0 G.
|
|
*
|
|
* The zero G voltage varies by accelerometer model. There are constants defined
|
|
* for various models.
|
|
*
|
|
* @param zero The zero G voltage.
|
|
*/
|
|
void AnalogAccelerometer::SetZero(double zero) { m_zeroGVoltage = zero; }
|
|
|
|
/**
|
|
* Get the Acceleration for the PID Source parent.
|
|
*
|
|
* @return The current acceleration in Gs.
|
|
*/
|
|
double AnalogAccelerometer::PIDGet() { return GetAcceleration(); }
|
|
|
|
void AnalogAccelerometer::UpdateTable() {
|
|
if (m_table != nullptr) {
|
|
m_table->PutNumber("Value", GetAcceleration());
|
|
}
|
|
}
|
|
|
|
void AnalogAccelerometer::StartLiveWindowMode() {}
|
|
|
|
void AnalogAccelerometer::StopLiveWindowMode() {}
|
|
|
|
std::string AnalogAccelerometer::GetSmartDashboardType() const {
|
|
return "Accelerometer";
|
|
}
|
|
|
|
void AnalogAccelerometer::InitTable(std::shared_ptr<ITable> subTable) {
|
|
m_table = subTable;
|
|
UpdateTable();
|
|
}
|
|
|
|
std::shared_ptr<ITable> AnalogAccelerometer::GetTable() const {
|
|
return m_table;
|
|
}
|