mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-26 01:51:41 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
60 lines
2.0 KiB
C++
60 lines
2.0 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() 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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