This repository has been archived on 2020-09-21. You can view files and clone it, but cannot push or open issues or pull requests.
FRC2016-old/Robot2016/wpilib/cpp/current/include/AnalogAccelerometer.h

55 lines
1.8 KiB
C
Raw Normal View History

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "AnalogInput.h"
#include "SensorBase.h"
#include "PIDSource.h"
#include "LiveWindow/LiveWindowSendable.h"
#include <memory>
/**
* Handle operation of an analog accelerometer.
* The accelerometer reads acceleration directly through the sensor. Many
* sensors have
* multiple axis and can be treated as multiple devices. Each is calibrated by
* finding
* the center value over a period of time.
*/
class AnalogAccelerometer : public SensorBase,
public PIDSource,
public LiveWindowSendable {
public:
explicit AnalogAccelerometer(int32_t channel);
explicit AnalogAccelerometer(AnalogInput *channel);
explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
virtual ~AnalogAccelerometer() = default;
float GetAcceleration() const;
void SetSensitivity(float sensitivity);
void SetZero(float zero);
double PIDGet() override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
private:
void InitAccelerometer();
std::shared_ptr<AnalogInput> m_analogInput;
float m_voltsPerG = 1.0;
float m_zeroGVoltage = 2.5;
std::shared_ptr<ITable> m_table;
};