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https://github.com/wpilibsuite/allwpilib
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b417d961ec
The non-NT portion has been moved to wpiutil. The NT portion has been moved to ntcore (as NTSendable). SendableBuilder similarly split and moved. SendableRegistry moved to wpiutil. In C++, SendableHelper also moved to wpiutil. This enables use of Sendable from wpimath and also enables moving several classes from wpilib to wpimath.
62 lines
1.6 KiB
C++
62 lines
1.6 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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#pragma once
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/interfaces/Accelerometer.h"
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namespace frc {
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/**
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* Built-in accelerometer.
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*
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* This class allows access to the roboRIO's internal accelerometer.
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*/
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class BuiltInAccelerometer : public Accelerometer,
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public wpi::Sendable,
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public wpi::SendableHelper<BuiltInAccelerometer> {
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public:
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/**
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* Constructor.
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*
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* @param range The range the accelerometer will measure
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*/
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explicit BuiltInAccelerometer(Range range = kRange_8G);
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BuiltInAccelerometer(BuiltInAccelerometer&&) = default;
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BuiltInAccelerometer& operator=(BuiltInAccelerometer&&) = default;
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// Accelerometer interface
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/**
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* Set the measuring range of the accelerometer.
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*
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* @param range The maximum acceleration, positive or negative, that the
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* accelerometer will measure. Not all accelerometers support all
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* ranges.
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*/
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void SetRange(Range range) final;
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/**
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* @return The acceleration of the roboRIO along the X axis in g-forces
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*/
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double GetX() override;
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/**
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* @return The acceleration of the roboRIO along the Y axis in g-forces
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*/
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double GetY() override;
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/**
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* @return The acceleration of the roboRIO along the Z axis in g-forces
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*/
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double GetZ() override;
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void InitSendable(wpi::SendableBuilder& builder) override;
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};
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} // namespace frc
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