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https://github.com/wpilibsuite/allwpilib
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41c2b9402c
ADXL345_I2C, ADXL345_SPI, and BuiltInAccelerometer implement this interface. The analog accelerometer class Accelerometer was renamed to AnalogAccelerometer. Change-Id: Iaae79d582a24c36c372f5fd4ea6df37be289b9c1
80 lines
1.9 KiB
C++
80 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. 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 "BuiltInAccelerometer.h"
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#include "HAL/HAL.hpp"
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#include "WPIErrors.h"
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/**
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* Constructor.
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* @param range The range the accelerometer will measure
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*/
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BuiltInAccelerometer::BuiltInAccelerometer(Range range)
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: m_table(0)
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{
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SetRange(range);
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HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
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}
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/** {@inheritdoc} */
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void BuiltInAccelerometer::SetRange(Range range)
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{
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if(range == kRange_16G)
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{
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wpi_setWPIErrorWithContext(ParameterOutOfRange, "16G range not supported (use k2G, k4G, or k8G)");
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}
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setAccelerometerActive(false);
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setAccelerometerRange((AccelerometerRange)range);
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setAccelerometerActive(true);
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}
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/**
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* @return The acceleration of the RoboRIO along the X axis in g-forces
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*/
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double BuiltInAccelerometer::GetX()
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{
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return getAccelerometerX();
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}
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/**
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* @return The acceleration of the RoboRIO along the Y axis in g-forces
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*/
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double BuiltInAccelerometer::GetY()
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{
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return getAccelerometerY();
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}
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/**
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* @return The acceleration of the RoboRIO along the Z axis in g-forces
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*/
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double BuiltInAccelerometer::GetZ()
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{
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return getAccelerometerZ();
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}
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std::string BuiltInAccelerometer::GetSmartDashboardType() {
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return "Accelerometer";
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}
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void BuiltInAccelerometer::InitTable(ITable *subtable) {
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m_table = subtable;
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UpdateTable();
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}
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void BuiltInAccelerometer::UpdateTable() {
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if (m_table != NULL) {
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m_table->PutNumber("X", GetX());
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m_table->PutNumber("Y", GetY());
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m_table->PutNumber("Z", GetZ());
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}
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}
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ITable* BuiltInAccelerometer::GetTable() {
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return m_table;
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}
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