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0cb288ffba
* Fixed cpplint.py [runtime/int] warnings * Fixed cpplint.py [readability/casting] warnings * Fixed cpplint.py [readability/namespace] warnings * Fixed cpplint.py [readability/braces] warnings * Fixed cpplint.py [whitespace/braces] warnings * Fixed cpplint.py [runtime/explicit] warnings * Fixed cpplint.py [runtime/printf] warnings * Fixed cpplint.py [readability/inheritance] warnings * Fixed cpplint.py [whitespace/tab] warnings * Fixed cpplint.py [build/storage_class] warnings * Fixed cpplint.py [readability/multiline_comment] warnings * Fixed cpplint.py [whitespace/semicolon] warnings * Fixed cpplint.py [readability/check] warnings * Fixed cpplint.py [runtime/arrays] warnings * Ran format.py
64 lines
1.8 KiB
C++
64 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include "LiveWindow/LiveWindowSendable.h"
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#include "SPI.h"
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#include "SensorBase.h"
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#include "interfaces/Accelerometer.h"
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class DigitalInput;
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class DigitalOutput;
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/**
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* ADXL362 SPI Accelerometer.
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*
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* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
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*/
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class ADXL362 : public Accelerometer, public LiveWindowSendable {
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public:
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enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
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struct AllAxes {
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double XAxis;
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double YAxis;
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double ZAxis;
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};
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public:
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explicit ADXL362(Range range = kRange_2G);
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explicit ADXL362(SPI::Port port, Range range = kRange_2G);
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virtual ~ADXL362() = default;
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ADXL362(const ADXL362&) = delete;
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ADXL362& operator=(const ADXL362&) = delete;
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// Accelerometer interface
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void SetRange(Range range) override;
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double GetX() override;
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double GetY() override;
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double GetZ() override;
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virtual double GetAcceleration(Axes axis);
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virtual AllAxes GetAccelerations();
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subtable) override;
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void UpdateTable() override;
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std::shared_ptr<ITable> GetTable() const override;
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void StartLiveWindowMode() override {}
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void StopLiveWindowMode() override {}
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private:
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SPI m_spi;
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double m_gsPerLSB = 0.001;
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std::shared_ptr<ITable> m_table;
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};
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