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14f30752ab
Accelerometer is hyper-specific to ADXL accelerometers, and Gyro is less useful now that 3D IMUs are prevalent, and if those IMUs want to support the Gyro interface, they also need to provide a way to set the axis used for the Gyro interface, which is confusing. Higher-order functions (e.g., lambdas) are a more flexible interface boundary than interfaces, but they didn't exist when these interfaces were created.
59 lines
1.5 KiB
C++
59 lines
1.5 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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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 wpi::Sendable,
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public wpi::SendableHelper<BuiltInAccelerometer> {
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public:
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enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
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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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/**
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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.
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*/
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void SetRange(Range range);
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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();
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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();
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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();
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void InitSendable(wpi::SendableBuilder& builder) override;
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};
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} // namespace frc
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