mirror of
https://github.com/wpilibsuite/allwpilib
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e1195e8b9d
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
99 lines
3.1 KiB
C++
99 lines
3.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. 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 "ADXL345_I2C.h"
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#include "HAL/HAL.h"
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#include "I2C.h"
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#include "LiveWindow/LiveWindow.h"
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using namespace frc;
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const int ADXL345_I2C::kAddress;
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const int ADXL345_I2C::kPowerCtlRegister;
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const int ADXL345_I2C::kDataFormatRegister;
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const int ADXL345_I2C::kDataRegister;
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constexpr double ADXL345_I2C::kGsPerLSB;
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/**
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* Constructs the ADXL345 Accelerometer over I2C.
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*
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* @param port The I2C port the accelerometer is attached to
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* @param range The range (+ or -) that the accelerometer will measure
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* @param deviceAddress The I2C address of the accelerometer (0x1D or 0x53)
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*/
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ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
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: m_i2c(port, deviceAddress) {
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// Turn on the measurements
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m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
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// Specify the data format to read
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SetRange(range);
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HAL_Report(HALUsageReporting::kResourceType_ADXL345,
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HALUsageReporting::kADXL345_I2C, 0);
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LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this);
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}
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void ADXL345_I2C::SetRange(Range range) {
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m_i2c.Write(kDataFormatRegister,
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kDataFormat_FullRes | static_cast<uint8_t>(range));
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}
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double ADXL345_I2C::GetX() { return GetAcceleration(kAxis_X); }
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double ADXL345_I2C::GetY() { return GetAcceleration(kAxis_Y); }
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double ADXL345_I2C::GetZ() { return GetAcceleration(kAxis_Z); }
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/**
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* Get the acceleration of one axis in Gs.
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*
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* @param axis The axis to read from.
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* @return Acceleration of the ADXL345 in Gs.
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*/
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double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
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int16_t rawAccel = 0;
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m_i2c.Read(kDataRegister + static_cast<int>(axis), sizeof(rawAccel),
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reinterpret_cast<uint8_t*>(&rawAccel));
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return rawAccel * kGsPerLSB;
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}
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/**
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* Get the acceleration of all axes in Gs.
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*
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* @return An object containing the acceleration measured on each axis of the
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* ADXL345 in Gs.
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*/
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ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
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AllAxes data = AllAxes();
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int16_t rawData[3];
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m_i2c.Read(kDataRegister, sizeof(rawData),
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reinterpret_cast<uint8_t*>(rawData));
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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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std::string ADXL345_I2C::GetSmartDashboardType() const {
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return "3AxisAccelerometer";
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}
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void ADXL345_I2C::InitTable(std::shared_ptr<ITable> subtable) {
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m_table = subtable;
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UpdateTable();
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}
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void ADXL345_I2C::UpdateTable() {
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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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std::shared_ptr<ITable> ADXL345_I2C::GetTable() const { return m_table; }
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