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https://github.com/wpilibsuite/allwpilib
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58021f7397
AnalogModule and DigitalModule classes still exist, at least until they are refactored into the classes that use them. Change-Id: I5544d5418822f19d54ba0a5d651e64fad8b7b10d
51 lines
1.5 KiB
C++
51 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 "SensorBase.h"
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#include "LiveWindow/LiveWindowSendable.h"
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class I2C;
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/**
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* HiTechnic NXT Compass.
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*
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* This class alows access to a HiTechnic NXT Compass on an I2C bus.
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* These sensors to not allow changing addresses so you cannot have more
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* than one on a single bus.
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*
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* Details on the sensor can be found here:
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* http://www.hitechnic.com/index.html?lang=en-us&target=d17.html
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*
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* @todo Implement a calibration method for the sensor.
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*/
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class HiTechnicCompass : public SensorBase, public LiveWindowSendable
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{
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public:
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HiTechnicCompass();
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virtual ~HiTechnicCompass();
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float GetAngle();
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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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static const uint8_t kAddress = 0x02;
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static const uint8_t kManufacturerBaseRegister = 0x08;
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static const uint8_t kManufacturerSize = 0x08;
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static const uint8_t kSensorTypeBaseRegister = 0x10;
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static const uint8_t kSensorTypeSize = 0x08;
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static const uint8_t kHeadingRegister = 0x44;
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I2C* m_i2c;
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ITable *m_table;
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};
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