mirror of
https://github.com/wpilibsuite/allwpilib
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98f2d08103
The HAL will remain untouched in order to maintain C-style compatibility. A few places in wpilibc were left as C-style strings, especially if special formatting (eg, elaborate uses of snprintf or sscanf) was being used. In general, const char* was changed to std::string. character buffers used for formatting were either untouched, changed to std::stringstream, or changed to std::string, depending on what was done with the buffer. Change-Id: I5e431ddf1cc4d9a6d534e1f21b16ea23be26e7f1
135 lines
4.3 KiB
C++
135 lines
4.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 "AnalogAccelerometer.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Common function for initializing the accelerometer.
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*/
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void AnalogAccelerometer::InitAccelerometer() {
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HALReport(HALUsageReporting::kResourceType_Accelerometer,
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m_analogInput->GetChannel());
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LiveWindow::GetInstance().AddSensor("Accelerometer",
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m_analogInput->GetChannel(), this);
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}
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/**
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* Create a new instance of an accelerometer.
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* The constructor allocates desired analog input.
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* @param channel The channel number for the analog input the accelerometer is
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* connected to
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*/
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AnalogAccelerometer::AnalogAccelerometer(int32_t channel) {
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m_analogInput = ::std::make_shared<AnalogInput>(channel);
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InitAccelerometer();
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}
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/**
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* Create a new instance of Accelerometer from an existing AnalogInput.
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* Make a new instance of accelerometer given an AnalogInput. This is
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* particularly useful if the port is going to be read as an analog channel as
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* well as through the Accelerometer class.
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* @param channel The existing AnalogInput object for the analog input the
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* accelerometer is connected to
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*/
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[[deprecated(
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"Raw pointers are deprecated; if you just want to construct an "
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"AnalogAccelerometer with its own AnalogInput, then call the "
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"AnalogAccelerometer(int channel). If you want to keep your own copy of "
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"the AnalogInput, use std::shared_ptr.")]]
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AnalogAccelerometer::AnalogAccelerometer(AnalogInput *channel)
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: m_analogInput(channel, NullDeleter<AnalogInput>()) {
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if (channel == nullptr) {
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wpi_setWPIError(NullParameter);
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} else {
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InitAccelerometer();
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}
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}
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/**
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* Create a new instance of Accelerometer from an existing AnalogInput.
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* Make a new instance of accelerometer given an AnalogInput. This is
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* particularly useful if the port is going to be read as an analog channel as
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* well as through the Accelerometer class.
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* @param channel The existing AnalogInput object for the analog input the
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* accelerometer is connected to
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*/
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AnalogAccelerometer::AnalogAccelerometer(::std::shared_ptr<AnalogInput> channel)
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: m_analogInput(channel) {
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if (channel == nullptr) {
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wpi_setWPIError(NullParameter);
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} else {
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InitAccelerometer();
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}
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}
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/**
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* Return the acceleration in Gs.
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*
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* The acceleration is returned units of Gs.
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*
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* @return The current acceleration of the sensor in Gs.
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*/
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float AnalogAccelerometer::GetAcceleration() const {
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return (m_analogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
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}
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/**
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* Set the accelerometer sensitivity.
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*
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* This sets the sensitivity of the accelerometer used for calculating the
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* acceleration.
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* The sensitivity varies by accelerometer model. There are constants defined
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* for various models.
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*
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* @param sensitivity The sensitivity of accelerometer in Volts per G.
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*/
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void AnalogAccelerometer::SetSensitivity(float sensitivity) {
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m_voltsPerG = sensitivity;
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}
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/**
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* Set the voltage that corresponds to 0 G.
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*
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* The zero G voltage varies by accelerometer model. There are constants defined
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* for various models.
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*
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* @param zero The zero G voltage.
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*/
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void AnalogAccelerometer::SetZero(float zero) { m_zeroGVoltage = zero; }
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/**
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* Get the Acceleration for the PID Source parent.
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*
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* @return The current acceleration in Gs.
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*/
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double AnalogAccelerometer::PIDGet() const { return GetAcceleration(); }
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void AnalogAccelerometer::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutNumber("Value", GetAcceleration());
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}
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}
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void AnalogAccelerometer::StartLiveWindowMode() {}
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void AnalogAccelerometer::StopLiveWindowMode() {}
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std::string AnalogAccelerometer::GetSmartDashboardType() const {
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return "Accelerometer";
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}
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void AnalogAccelerometer::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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::std::shared_ptr<ITable> AnalogAccelerometer::GetTable() const { return m_table; }
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