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.
64 lines
1.9 KiB
C++
64 lines
1.9 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 "LiveWindow/LiveWindowSendable.h"
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#include "SPI.h"
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#include "SensorBase.h"
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#include "interfaces/Accelerometer.h"
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class DigitalInput;
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class DigitalOutput;
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/**
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* ADXL362 SPI Accelerometer.
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*
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* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
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*/
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class ADXL362 : public Accelerometer, public LiveWindowSendable {
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public:
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enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
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struct AllAxes {
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double XAxis;
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double YAxis;
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double ZAxis;
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};
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public:
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ADXL362(Range range = kRange_2G);
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ADXL362(SPI::Port port, Range range = kRange_2G);
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virtual ~ADXL362() = default;
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ADXL362(const ADXL362&) = delete;
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ADXL362& operator=(const ADXL362&) = delete;
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// Accelerometer interface
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virtual void SetRange(Range range) override;
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virtual double GetX() override;
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virtual double GetY() override;
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virtual double GetZ() override;
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virtual double GetAcceleration(Axes axis);
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virtual AllAxes GetAccelerations();
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virtual std::string GetSmartDashboardType() const override;
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virtual void InitTable(std::shared_ptr<ITable> subtable) override;
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virtual void UpdateTable() override;
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virtual std::shared_ptr<ITable> GetTable() const override;
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virtual void StartLiveWindowMode() override {}
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virtual void StopLiveWindowMode() override {}
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private:
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SPI m_spi;
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double m_gsPerLSB = 0.001;
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std::shared_ptr<ITable> m_table;
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};
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