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https://github.com/wpilibsuite/allwpilib
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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.
112 lines
2.6 KiB
C++
112 lines
2.6 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 <hal/SimDevice.h>
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#include <networktables/NTSendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/SPI.h"
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namespace frc {
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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 nt::NTSendable, public wpi::SendableHelper<ADXL362> {
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public:
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enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
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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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/**
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* Constructor. Uses the onboard CS1.
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*
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* @param range The range (+ or -) that the accelerometer will measure.
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*/
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explicit ADXL362(Range range = kRange_2G);
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/**
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* Constructor.
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*
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* @param port The SPI port the accelerometer is attached to
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* @param range The range (+ or -) that the accelerometer will measure.
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*/
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explicit ADXL362(SPI::Port port, Range range = kRange_2G);
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~ADXL362() override = default;
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ADXL362(ADXL362&&) = default;
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ADXL362& operator=(ADXL362&&) = default;
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SPI::Port GetSpiPort() const;
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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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* Returns the acceleration along the X axis in g-forces.
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*
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* @return The acceleration 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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* Returns the acceleration along the Y axis in g-forces.
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*
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* @return The acceleration 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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* Returns the acceleration along the Z axis in g-forces.
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*
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* @return The acceleration along the Z axis in g-forces.
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*/
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double GetZ();
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/**
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* Get the acceleration of one axis in Gs.
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*
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* @param axis The axis to read from.
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* @return Acceleration of the ADXL362 in Gs.
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*/
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virtual double GetAcceleration(Axes axis);
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/**
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* Get the acceleration of all axes in Gs.
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*
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* @return An object containing the acceleration measured on each axis of the
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* ADXL362 in Gs.
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*/
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virtual AllAxes GetAccelerations();
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void InitSendable(nt::NTSendableBuilder& builder) override;
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private:
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SPI m_spi;
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hal::SimDevice m_simDevice;
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hal::SimEnum m_simRange;
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hal::SimDouble m_simX;
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hal::SimDouble m_simY;
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hal::SimDouble m_simZ;
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double m_gsPerLSB = 0.001;
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};
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} // namespace frc
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