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https://github.com/wpilibsuite/allwpilib
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f65e697107
I'm not 100% sure whether we want these, but they are a quick find and replace to do. Basically, there are two primary things that we have done this summer that break existing user code: -Changing GetInstance() calls to return references instead of pointers. This forces users to change from doing something like LiveWindow::GetInstance()->AddSensor() to LiveWindow::GetInstance().AddSensor(). -Making PIDGet() and related calls const, forcing users to change the function signatures wherever they override them. The GetInstance() calls don't really matter to me either way, especially since there are no real ownership issues going on there, unlike the rest of the smart pointer-related changes. For the const stuff, it is certainly more correct to mandate that user PIDGet() functions be const and the such, but at the same time, I'm not sure that there is any strong need for it, and the errors generated are not the most helpful. While this wouldn't necessarily be an issue for more experienced teams or completely new teams (who don't have any old code to be reusing), it may cause issues for more average teams who aren't familiar with the intricacies of C++ anything. Change-Id: I6e7007982069292ea70e6d0fc8ca40203340df1b
60 lines
2.0 KiB
C++
60 lines
2.0 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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#pragma once
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#include "AnalogInput.h"
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#include "SensorBase.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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/**
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* Handle operation of an analog accelerometer.
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* The accelerometer reads acceleration directly through the sensor. Many
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* sensors have
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* multiple axis and can be treated as multiple devices. Each is calibrated by
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* finding
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* the center value over a period of time.
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*/
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class AnalogAccelerometer : public SensorBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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explicit AnalogAccelerometer(int32_t channel);
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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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explicit AnalogAccelerometer(AnalogInput *channel);
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explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
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virtual ~AnalogAccelerometer() = default;
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float GetAcceleration() const;
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void SetSensitivity(float sensitivity);
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void SetZero(float zero);
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double PIDGet() override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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private:
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void InitAccelerometer();
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std::shared_ptr<AnalogInput> m_analogInput;
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float m_voltsPerG = 1.0;
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float m_zeroGVoltage = 2.5;
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bool m_allocatedChannel;
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std::shared_ptr<ITable> m_table = nullptr;
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};
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