mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
63 lines
2.0 KiB
C++
63 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2017 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 "BuiltInAccelerometer.h"
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#include <HAL/Accelerometer.h>
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#include <HAL/HAL.h>
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#include "SmartDashboard/SendableBuilder.h"
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#include "WPIErrors.h"
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using namespace frc;
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/**
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* Constructor.
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*
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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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SetRange(range);
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HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
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"Built-in accelerometer");
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SetName("BuiltInAccel", 0);
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}
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void BuiltInAccelerometer::SetRange(Range range) {
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if (range == kRange_16G) {
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wpi_setWPIErrorWithContext(
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ParameterOutOfRange, "16G range not supported (use k2G, k4G, or k8G)");
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}
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HAL_SetAccelerometerActive(false);
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HAL_SetAccelerometerRange((HAL_AccelerometerRange)range);
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HAL_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() { return HAL_GetAccelerometerX(); }
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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() { return HAL_GetAccelerometerY(); }
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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() { return HAL_GetAccelerometerZ(); }
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void BuiltInAccelerometer::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("3AxisAccelerometer");
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builder.AddDoubleProperty("X", [=]() { return GetX(); }, nullptr);
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builder.AddDoubleProperty("Y", [=]() { return GetY(); }, nullptr);
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builder.AddDoubleProperty("Z", [=]() { return GetZ(); }, nullptr);
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}
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