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https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
48 lines
1.5 KiB
C++
48 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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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 "AnalogChannel.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 the accelerometer.
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* The accelerometer reads acceleration directly through the sensor. Many sensors have
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* multiple axis and can be treated as multiple devices. Each is calibrated by finding
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* the center value over a period of time.
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*/
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class Accelerometer : public SensorBase, public PIDSource, public LiveWindowSendable {
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public:
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explicit Accelerometer(uint32_t channel);
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Accelerometer(uint8_t moduleNumber, uint32_t channel);
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explicit Accelerometer(AnalogChannel *channel);
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virtual ~Accelerometer();
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float GetAcceleration();
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void SetSensitivity(float sensitivity);
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void SetZero(float zero);
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double PIDGet();
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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void InitAccelerometer();
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AnalogChannel *m_analogChannel;
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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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