mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
53 lines
1.8 KiB
C++
53 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#pragma once
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#include <memory>
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#include "AnalogInput.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "PIDSource.h"
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#include "SensorBase.h"
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/**
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* Handle operation of an analog accelerometer.
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* The accelerometer reads acceleration directly through the sensor. Many
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* sensors have multiple axis and can be treated as multiple devices. Each is
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* calibrated by finding the center value over a period of time.
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*/
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class AnalogAccelerometer : public SensorBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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explicit AnalogAccelerometer(int32_t channel);
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explicit AnalogAccelerometer(AnalogInput* channel);
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explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
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virtual ~AnalogAccelerometer() = default;
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float GetAcceleration() const;
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void SetSensitivity(float sensitivity);
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void SetZero(float zero);
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double PIDGet() override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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private:
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void InitAccelerometer();
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std::shared_ptr<AnalogInput> m_analogInput;
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float m_voltsPerG = 1.0;
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float m_zeroGVoltage = 2.5;
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std::shared_ptr<ITable> m_table;
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};
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