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1fc098e696
This is enabled by the C++20 __VA_OPT__ feature.
Uses of "{}" format string were updated.
Some warning suppressions were required for older clang versions.
Also improve codegen of wpi::Logger::Log(), frc::ReportError(), and frc::MakeError();
these generate better and less redundant code if they use fmt::string_view for the
format string instead of templating on it.
62 lines
1.8 KiB
C++
62 lines
1.8 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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#include "frc/AnalogAccelerometer.h"
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#include <hal/FRCUsageReporting.h>
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#include <wpi/NullDeleter.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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#include "frc/Errors.h"
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using namespace frc;
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AnalogAccelerometer::AnalogAccelerometer(int channel)
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: AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
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wpi::SendableRegistry::AddChild(this, m_analogInput.get());
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}
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AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
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: m_analogInput(channel, wpi::NullDeleter<AnalogInput>()) {
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if (!channel) {
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throw FRC_MakeError(err::NullParameter, "channel");
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}
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InitAccelerometer();
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}
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AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr<AnalogInput> channel)
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: m_analogInput(channel) {
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if (!channel) {
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throw FRC_MakeError(err::NullParameter, "channel");
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}
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InitAccelerometer();
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}
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double AnalogAccelerometer::GetAcceleration() const {
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return (m_analogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
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}
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void AnalogAccelerometer::SetSensitivity(double sensitivity) {
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m_voltsPerG = sensitivity;
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}
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void AnalogAccelerometer::SetZero(double zero) {
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m_zeroGVoltage = zero;
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}
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void AnalogAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Accelerometer");
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builder.AddDoubleProperty(
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"Value", [=, this] { return GetAcceleration(); }, nullptr);
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}
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void AnalogAccelerometer::InitAccelerometer() {
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HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
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m_analogInput->GetChannel() + 1);
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wpi::SendableRegistry::AddLW(this, "Accelerometer",
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m_analogInput->GetChannel());
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}
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