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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
124 lines
3.8 KiB
C++
124 lines
3.8 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 <memory>
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#include "frc/AnalogInput.h"
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#include "frc/ErrorBase.h"
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#include "frc/PIDSource.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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* Handle operation of an analog accelerometer.
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*
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* The accelerometer reads acceleration directly through the sensor. Many
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* sensors have multiple axis and can be treated as multiple devices. Each is
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* calibrated by finding the center value over a period of time.
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*/
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class AnalogAccelerometer : public ErrorBase,
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public PIDSource,
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public Sendable,
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public SendableHelper<AnalogAccelerometer> {
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public:
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/**
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* Create a new instance of an accelerometer.
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*
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* The constructor allocates desired analog input.
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*
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* @param channel The channel number for the analog input the accelerometer is
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* connected to
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*/
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explicit AnalogAccelerometer(int channel);
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/**
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* Create a new instance of Accelerometer from an existing AnalogInput.
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*
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* Make a new instance of accelerometer given an AnalogInput. This is
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* particularly useful if the port is going to be read as an analog channel as
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* well as through the Accelerometer class.
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*
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* @param channel The existing AnalogInput object for the analog input the
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* accelerometer is connected to
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*/
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explicit AnalogAccelerometer(AnalogInput* channel);
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/**
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* Create a new instance of Accelerometer from an existing AnalogInput.
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*
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* Make a new instance of accelerometer given an AnalogInput. This is
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* particularly useful if the port is going to be read as an analog channel as
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* well as through the Accelerometer class.
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*
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* @param channel The existing AnalogInput object for the analog input the
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* accelerometer is connected to
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*/
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explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
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~AnalogAccelerometer() override = default;
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AnalogAccelerometer(AnalogAccelerometer&&) = default;
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AnalogAccelerometer& operator=(AnalogAccelerometer&&) = default;
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/**
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* Return the acceleration in Gs.
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*
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* The acceleration is returned units of Gs.
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*
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* @return The current acceleration of the sensor in Gs.
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*/
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double GetAcceleration() const;
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/**
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* Set the accelerometer sensitivity.
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*
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* This sets the sensitivity of the accelerometer used for calculating the
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* acceleration. The sensitivity varies by accelerometer model. There are
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* constants defined for various models.
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*
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* @param sensitivity The sensitivity of accelerometer in Volts per G.
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*/
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void SetSensitivity(double sensitivity);
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/**
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* Set the voltage that corresponds to 0 G.
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*
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* The zero G voltage varies by accelerometer model. There are constants
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* defined for various models.
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*
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* @param zero The zero G voltage.
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*/
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void SetZero(double zero);
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/**
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* Get the Acceleration for the PID Source parent.
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*
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* @return The current acceleration in Gs.
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*/
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double PIDGet() override;
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void InitSendable(SendableBuilder& builder) override;
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private:
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/**
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* Common function for initializing the accelerometer.
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*/
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void InitAccelerometer();
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std::shared_ptr<AnalogInput> m_analogInput;
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double m_voltsPerG = 1.0;
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double m_zeroGVoltage = 2.5;
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};
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} // namespace frc
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