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https://github.com/wpilibsuite/allwpilib
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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.
49 lines
1.7 KiB
C++
49 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2018 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/BuiltInAccelerometer.h"
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#include <hal/Accelerometer.h>
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#include <hal/HAL.h>
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#include "frc/WPIErrors.h"
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#include "frc/smartdashboard/SendableBuilder.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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SetName("BuiltInAccel", 0);
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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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wpi_setWPIErrorWithContext(
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ParameterOutOfRange, "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((HAL_AccelerometerRange)range);
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HAL_SetAccelerometerActive(true);
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}
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double BuiltInAccelerometer::GetX() { return HAL_GetAccelerometerX(); }
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double BuiltInAccelerometer::GetY() { return HAL_GetAccelerometerY(); }
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double BuiltInAccelerometer::GetZ() { return HAL_GetAccelerometerZ(); }
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void BuiltInAccelerometer::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("3AxisAccelerometer");
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builder.AddDoubleProperty("X", [=]() { return GetX(); }, nullptr);
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builder.AddDoubleProperty("Y", [=]() { return GetY(); }, nullptr);
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builder.AddDoubleProperty("Z", [=]() { return GetZ(); }, nullptr);
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}
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