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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
70 lines
2.3 KiB
C++
70 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 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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#include "frc/ADXL345_I2C.h"
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#include <hal/HAL.h>
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#include "frc/smartdashboard/SendableBuilder.h"
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using namespace frc;
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ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
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: m_i2c(port, deviceAddress) {
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// Turn on the measurements
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m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
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// Specify the data format to read
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SetRange(range);
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HAL_Report(HALUsageReporting::kResourceType_ADXL345,
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HALUsageReporting::kADXL345_I2C, 0);
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SetName("ADXL345_I2C", port);
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}
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void ADXL345_I2C::SetRange(Range range) {
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m_i2c.Write(kDataFormatRegister,
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kDataFormat_FullRes | static_cast<uint8_t>(range));
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}
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double ADXL345_I2C::GetX() { return GetAcceleration(kAxis_X); }
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double ADXL345_I2C::GetY() { return GetAcceleration(kAxis_Y); }
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double ADXL345_I2C::GetZ() { return GetAcceleration(kAxis_Z); }
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double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
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int16_t rawAccel = 0;
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m_i2c.Read(kDataRegister + static_cast<int>(axis), sizeof(rawAccel),
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reinterpret_cast<uint8_t*>(&rawAccel));
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return rawAccel * kGsPerLSB;
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}
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ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
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AllAxes data = AllAxes();
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int16_t rawData[3];
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m_i2c.Read(kDataRegister, sizeof(rawData),
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reinterpret_cast<uint8_t*>(rawData));
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data.XAxis = rawData[0] * kGsPerLSB;
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data.YAxis = rawData[1] * kGsPerLSB;
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data.ZAxis = rawData[2] * kGsPerLSB;
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return data;
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}
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void ADXL345_I2C::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("3AxisAccelerometer");
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auto x = builder.GetEntry("X").GetHandle();
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auto y = builder.GetEntry("Y").GetHandle();
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auto z = builder.GetEntry("Z").GetHandle();
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builder.SetUpdateTable([=]() {
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auto data = GetAccelerations();
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nt::NetworkTableEntry(x).SetDouble(data.XAxis);
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nt::NetworkTableEntry(y).SetDouble(data.YAxis);
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nt::NetworkTableEntry(z).SetDouble(data.ZAxis);
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});
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}
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