mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
7eb8550bdb
The changes made in this commit do not affect any actual code,
they are purely aesthetic. I ran clang-format with google style
over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
or gtest, and the eclipse formatter over all of the Java files
using the Google eclipse formatting configuration.
Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
52 lines
1.6 KiB
C++
52 lines
1.6 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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/**
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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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explicit AnalogAccelerometer(AnalogInput *channel);
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virtual ~AnalogAccelerometer();
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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() const 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(ITable *subTable) override;
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ITable *GetTable() const override;
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private:
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void InitAccelerometer();
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AnalogInput *m_AnalogInput;
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float m_voltsPerG;
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float m_zeroGVoltage;
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bool m_allocatedChannel;
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ITable *m_table;
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};
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