mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
8d961dfd25
Replace with new exception-based error reporting, consistent with Java. This also builds stacktraces into the reporting/exceptions.
56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#include "frc/BuiltInAccelerometer.h"
|
|
|
|
#include <hal/Accelerometer.h>
|
|
#include <hal/FRCUsageReporting.h>
|
|
|
|
#include "frc/Errors.h"
|
|
#include "frc/smartdashboard/SendableBuilder.h"
|
|
#include "frc/smartdashboard/SendableRegistry.h"
|
|
|
|
using namespace frc;
|
|
|
|
BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
|
|
SetRange(range);
|
|
|
|
HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
|
|
"Built-in accelerometer");
|
|
SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
|
|
}
|
|
|
|
void BuiltInAccelerometer::SetRange(Range range) {
|
|
if (range == kRange_16G) {
|
|
throw FRC_MakeError(err::ParameterOutOfRange,
|
|
"16G range not supported (use k2G, k4G, or k8G)");
|
|
}
|
|
|
|
HAL_SetAccelerometerActive(false);
|
|
HAL_SetAccelerometerRange(static_cast<HAL_AccelerometerRange>(range));
|
|
HAL_SetAccelerometerActive(true);
|
|
}
|
|
|
|
double BuiltInAccelerometer::GetX() {
|
|
return HAL_GetAccelerometerX();
|
|
}
|
|
|
|
double BuiltInAccelerometer::GetY() {
|
|
return HAL_GetAccelerometerY();
|
|
}
|
|
|
|
double BuiltInAccelerometer::GetZ() {
|
|
return HAL_GetAccelerometerZ();
|
|
}
|
|
|
|
void BuiltInAccelerometer::InitSendable(SendableBuilder& builder) {
|
|
builder.SetSmartDashboardType("3AxisAccelerometer");
|
|
builder.AddDoubleProperty(
|
|
"X", [=]() { return GetX(); }, nullptr);
|
|
builder.AddDoubleProperty(
|
|
"Y", [=]() { return GetY(); }, nullptr);
|
|
builder.AddDoubleProperty(
|
|
"Z", [=]() { return GetZ(); }, nullptr);
|
|
}
|