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.
137 lines
4.1 KiB
C++
137 lines
4.1 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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#include "AnalogAccelerometer.h"
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#include "HAL/HAL.h"
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#include "LiveWindow/LiveWindow.h"
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#include "WPIErrors.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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*
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* The constructor allocates desired analog input.
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*
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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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*
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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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*
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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(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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*
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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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*
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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. The sensitivity varies by accelerometer model. There are
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* constants defined 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() { 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 {
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return m_table;
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}
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