mirror of
https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
157 lines
3.9 KiB
C++
157 lines
3.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "Accelerometer.h"
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#include "AnalogModule.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Common function for initializing the accelerometer.
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*/
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void Accelerometer::InitAccelerometer()
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{
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m_table = NULL;
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m_voltsPerG = 1.0;
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m_zeroGVoltage = 2.5;
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HALReport(HALUsageReporting::kResourceType_Accelerometer, m_analogChannel->GetChannel(), m_analogChannel->GetModuleNumber() - 1);
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LiveWindow::GetInstance()->AddSensor("Accelerometer", m_analogChannel->GetModuleNumber(), m_analogChannel->GetChannel(), this);
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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 accelerometer is assumed to be in the first analog module in the given analog channel. The
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* constructor allocates desired analog channel.
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*/
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Accelerometer::Accelerometer(uint32_t channel)
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{
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m_analogChannel = new AnalogChannel(channel);
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m_allocatedChannel = true;
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InitAccelerometer();
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}
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/**
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* Create new instance of accelerometer.
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*
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* Make a new instance of the accelerometer given a module and channel. The constructor allocates
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* the desired analog channel from the specified module
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*
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* @param moduleNumber The analog module (1 or 2).
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* @param channel The analog channel (1..8)
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*/
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Accelerometer::Accelerometer(uint8_t moduleNumber, uint32_t channel)
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{
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m_analogChannel = new AnalogChannel(moduleNumber, channel);
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m_allocatedChannel = true;
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InitAccelerometer();
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}
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/**
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* Create a new instance of Accelerometer from an existing AnalogChannel.
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* Make a new instance of accelerometer given an AnalogChannel. This is particularly
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* useful if the port is going to be read as an analog channel as well as through
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* the Accelerometer class.
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*/
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Accelerometer::Accelerometer(AnalogChannel *channel)
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{
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if (channel == NULL)
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{
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wpi_setWPIError(NullParameter);
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}
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else
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{
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m_analogChannel = channel;
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InitAccelerometer();
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}
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m_allocatedChannel = false;
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}
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/**
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* Delete the analog components used for the accelerometer.
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*/
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Accelerometer::~Accelerometer()
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{
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if (m_allocatedChannel)
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{
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delete m_analogChannel;
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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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float Accelerometer::GetAcceleration()
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{
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return (m_analogChannel->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 acceleration.
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* The sensitivity varys by accelerometer model. There are 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 Accelerometer::SetSensitivity(float sensitivity)
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{
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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 varys by accelerometer model. There are constants 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 Accelerometer::SetZero(float zero)
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{
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m_zeroGVoltage = zero;
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}
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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 Accelerometer::PIDGet()
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{
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return GetAcceleration();
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}
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void Accelerometer::UpdateTable() {
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if (m_table != NULL) {
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m_table->PutNumber("Value", GetAcceleration());
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}
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}
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void Accelerometer::StartLiveWindowMode() {
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}
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void Accelerometer::StopLiveWindowMode() {
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}
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std::string Accelerometer::GetSmartDashboardType() {
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return "Accelerometer";
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}
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void Accelerometer::InitTable(ITable *subTable) {
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m_table = subTable;
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UpdateTable();
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}
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ITable * Accelerometer::GetTable() {
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return m_table;
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}
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