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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.
56 lines
1.6 KiB
C++
56 lines
1.6 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/BuiltInAccelerometer.h"
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#include <hal/Accelerometer.h>
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#include <hal/FRCUsageReporting.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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BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
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SetRange(range);
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HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
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"Built-in accelerometer");
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wpi::SendableRegistry::AddLW(this, "BuiltInAccel");
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}
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void BuiltInAccelerometer::SetRange(Range range) {
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if (range == kRange_16G) {
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throw FRC_MakeError(err::ParameterOutOfRange,
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"16G range not supported (use k2G, k4G, or k8G)");
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}
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HAL_SetAccelerometerActive(false);
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HAL_SetAccelerometerRange(static_cast<HAL_AccelerometerRange>(range));
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HAL_SetAccelerometerActive(true);
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}
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double BuiltInAccelerometer::GetX() {
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return HAL_GetAccelerometerX();
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}
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double BuiltInAccelerometer::GetY() {
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return HAL_GetAccelerometerY();
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}
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double BuiltInAccelerometer::GetZ() {
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return HAL_GetAccelerometerZ();
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}
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void BuiltInAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("3AxisAccelerometer");
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builder.AddDoubleProperty(
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"X", [=, this] { return GetX(); }, nullptr);
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builder.AddDoubleProperty(
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"Y", [=, this] { return GetY(); }, nullptr);
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builder.AddDoubleProperty(
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"Z", [=, this] { return GetZ(); }, nullptr);
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}
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