mirror of
https://github.com/wpilibsuite/allwpilib
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a9f0e46680
This makes the halsim_adx_gyro_accelerometer simulation plugin and the accelerometer part of lowfi_simulation obsolete.
95 lines
2.5 KiB
C++
95 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 FIRST. 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 <hal/SimDevice.h>
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#include "frc/ErrorBase.h"
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#include "frc/SPI.h"
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#include "frc/interfaces/Accelerometer.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SendableBuilder;
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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 ErrorBase,
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public Accelerometer,
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public Sendable,
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public SendableHelper<ADXL362> {
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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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/**
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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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// 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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/**
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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(SendableBuilder& 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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