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https://github.com/wpilibsuite/allwpilib
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64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2018 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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#pragma once
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#include "frc/ErrorBase.h"
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#include "frc/interfaces/Accelerometer.h"
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#include "frc/smartdashboard/SendableBase.h"
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namespace frc {
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/**
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* Built-in accelerometer.
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*
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* This class allows access to the roboRIO's internal accelerometer.
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*/
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class BuiltInAccelerometer : public ErrorBase,
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public SendableBase,
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public Accelerometer {
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public:
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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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explicit BuiltInAccelerometer(Range range = kRange_8G);
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BuiltInAccelerometer(BuiltInAccelerometer&&) = default;
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BuiltInAccelerometer& operator=(BuiltInAccelerometer&&) = default;
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// Accelerometer interface
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/**
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* Set the measuring range of the accelerometer.
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*
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* @param range The maximum acceleration, positive or negative, that the
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* accelerometer will measure. Not all accelerometers support all
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* ranges.
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*/
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void SetRange(Range range) override;
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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 GetX() override;
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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 GetY() override;
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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 GetZ() override;
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void InitSendable(SendableBuilder& builder) override;
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};
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} // namespace frc
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