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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.
99 lines
3.1 KiB
C++
99 lines
3.1 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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#include "frc/ADXL345_SPI.h"
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#include <hal/HAL.h>
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#include "frc/smartdashboard/SendableBuilder.h"
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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
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: m_spi(port) {
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m_spi.SetClockRate(500000);
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m_spi.SetMSBFirst();
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m_spi.SetSampleDataOnTrailingEdge();
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m_spi.SetClockActiveLow();
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m_spi.SetChipSelectActiveHigh();
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uint8_t commands[2];
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// Turn on the measurements
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commands[0] = kPowerCtlRegister;
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commands[1] = kPowerCtl_Measure;
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m_spi.Transaction(commands, commands, 2);
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SetRange(range);
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HAL_Report(HALUsageReporting::kResourceType_ADXL345,
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HALUsageReporting::kADXL345_SPI);
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SendableRegistry::GetInstance().AddLW(this, "ADXL345_SPI", port);
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}
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void ADXL345_SPI::SetRange(Range range) {
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uint8_t commands[2];
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// Specify the data format to read
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commands[0] = kDataFormatRegister;
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commands[1] = kDataFormat_FullRes | static_cast<uint8_t>(range & 0x03);
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m_spi.Transaction(commands, commands, 2);
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}
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double ADXL345_SPI::GetX() { return GetAcceleration(kAxis_X); }
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double ADXL345_SPI::GetY() { return GetAcceleration(kAxis_Y); }
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double ADXL345_SPI::GetZ() { return GetAcceleration(kAxis_Z); }
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double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis) {
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uint8_t buffer[3];
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uint8_t command[3] = {0, 0, 0};
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command[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister) +
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static_cast<uint8_t>(axis);
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m_spi.Transaction(command, buffer, 3);
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// Sensor is little endian... swap bytes
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int16_t rawAccel = buffer[2] << 8 | buffer[1];
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return rawAccel * kGsPerLSB;
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}
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ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
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AllAxes data = AllAxes();
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uint8_t dataBuffer[7] = {0, 0, 0, 0, 0, 0, 0};
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int16_t rawData[3];
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// Select the data address.
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dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
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m_spi.Transaction(dataBuffer, dataBuffer, 7);
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for (int i = 0; i < 3; i++) {
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// Sensor is little endian... swap bytes
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rawData[i] = dataBuffer[i * 2 + 2] << 8 | dataBuffer[i * 2 + 1];
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}
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data.XAxis = rawData[0] * kGsPerLSB;
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data.YAxis = rawData[1] * kGsPerLSB;
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data.ZAxis = rawData[2] * kGsPerLSB;
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return data;
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}
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void ADXL345_SPI::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("3AxisAccelerometer");
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auto x = builder.GetEntry("X").GetHandle();
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auto y = builder.GetEntry("Y").GetHandle();
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auto z = builder.GetEntry("Z").GetHandle();
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builder.SetUpdateTable([=]() {
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auto data = GetAccelerations();
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nt::NetworkTableEntry(x).SetDouble(data.XAxis);
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nt::NetworkTableEntry(y).SetDouble(data.YAxis);
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nt::NetworkTableEntry(z).SetDouble(data.ZAxis);
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});
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}
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