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FRC2016-old/Robot2016/wpilib/cpp/current/include/ADXL345_SPI.h
Jason 6d0e75aa64 Added new Robot project using PWM drive train... Much simpler...
Signed-off-by: Jason <jason@dublinschool.org>
2016-02-09 16:23:45 -05:00

84 lines
2.6 KiB
C++

/*----------------------------------------------------------------------------*/
/* 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 "interfaces/Accelerometer.h"
#include "SensorBase.h"
#include "SPI.h"
#include "LiveWindow/LiveWindowSendable.h"
#include <memory>
class DigitalInput;
class DigitalOutput;
/**
* ADXL345 Accelerometer on SPI.
*
* This class allows access to an Analog Devices ADXL345 3-axis accelerometer
* via SPI.
* This class assumes the sensor is wired in 4-wire SPI mode.
*/
class ADXL345_SPI : public Accelerometer,
protected SPI,
public LiveWindowSendable {
protected:
static const uint8_t kPowerCtlRegister = 0x2D;
static const uint8_t kDataFormatRegister = 0x31;
static const uint8_t kDataRegister = 0x32;
static constexpr double kGsPerLSB = 0.00390625;
enum SPIAddressFields { kAddress_Read = 0x80, kAddress_MultiByte = 0x40 };
enum PowerCtlFields {
kPowerCtl_Link = 0x20,
kPowerCtl_AutoSleep = 0x10,
kPowerCtl_Measure = 0x08,
kPowerCtl_Sleep = 0x04
};
enum DataFormatFields {
kDataFormat_SelfTest = 0x80,
kDataFormat_SPI = 0x40,
kDataFormat_IntInvert = 0x20,
kDataFormat_FullRes = 0x08,
kDataFormat_Justify = 0x04
};
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
struct AllAxes {
double XAxis;
double YAxis;
double ZAxis;
};
public:
ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
virtual ~ADXL345_SPI() = default;
ADXL345_SPI(const ADXL345_SPI&) = delete;
ADXL345_SPI& operator=(const ADXL345_SPI&) = delete;
// Accelerometer interface
virtual void SetRange(Range range) override;
virtual double GetX() override;
virtual double GetY() override;
virtual double GetZ() override;
virtual double GetAcceleration(Axes axis);
virtual AllAxes GetAccelerations();
virtual std::string GetSmartDashboardType() const override;
virtual void InitTable(std::shared_ptr<ITable> subtable) override;
virtual void UpdateTable() override;
virtual std::shared_ptr<ITable> GetTable() const override;
virtual void StartLiveWindowMode() override {}
virtual void StopLiveWindowMode() override {}
private:
std::shared_ptr<ITable> m_table;
};