mirror of
https://github.com/wpilibsuite/allwpilib
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f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
123 lines
3.8 KiB
C++
123 lines
3.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 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 "AnalogAccelerometer.h"
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#include <HAL/HAL.h>
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#include "SmartDashboard/SendableBuilder.h"
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#include "WPIErrors.h"
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using namespace frc;
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/**
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* Common function for initializing the accelerometer.
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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());
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SetName("Accelerometer", m_analogInput->GetChannel());
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}
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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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AnalogAccelerometer::AnalogAccelerometer(int channel)
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: AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
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AddChild(m_analogInput);
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}
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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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AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
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: m_analogInput(channel, NullDeleter<AnalogInput>()) {
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if (channel == nullptr) {
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wpi_setWPIError(NullParameter);
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} else {
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InitAccelerometer();
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}
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}
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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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AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr<AnalogInput> channel)
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: m_analogInput(channel) {
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if (channel == nullptr) {
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wpi_setWPIError(NullParameter);
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} else {
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InitAccelerometer();
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}
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}
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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 AnalogAccelerometer::GetAcceleration() const {
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return (m_analogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
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}
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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 AnalogAccelerometer::SetSensitivity(double sensitivity) {
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m_voltsPerG = sensitivity;
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}
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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 defined
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* 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 AnalogAccelerometer::SetZero(double zero) { m_zeroGVoltage = 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 AnalogAccelerometer::PIDGet() { return GetAcceleration(); }
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void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Accelerometer");
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builder.AddDoubleProperty("Value", [=]() { return GetAcceleration(); },
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nullptr);
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}
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