Rename our allwpilib (which is now 2020) to not have 2019 in the name
Change-Id: I3c07f85ed32ab8b97db765a9b43f2a6ce7da964a
diff --git a/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp b/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
new file mode 100644
index 0000000..d7cdef6
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2019 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/BuiltInAccelerometer.h"
+
+#include <hal/Accelerometer.h>
+#include <hal/FRCUsageReporting.h>
+
+#include "frc/WPIErrors.h"
+#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
+
+using namespace frc;
+
+BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
+ SetRange(range);
+
+ HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
+ "Built-in accelerometer");
+ SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
+}
+
+void BuiltInAccelerometer::SetRange(Range range) {
+ if (range == kRange_16G) {
+ wpi_setWPIErrorWithContext(
+ ParameterOutOfRange, "16G range not supported (use k2G, k4G, or k8G)");
+ }
+
+ HAL_SetAccelerometerActive(false);
+ HAL_SetAccelerometerRange((HAL_AccelerometerRange)range);
+ HAL_SetAccelerometerActive(true);
+}
+
+double BuiltInAccelerometer::GetX() { return HAL_GetAccelerometerX(); }
+
+double BuiltInAccelerometer::GetY() { return HAL_GetAccelerometerY(); }
+
+double BuiltInAccelerometer::GetZ() { return HAL_GetAccelerometerZ(); }
+
+void BuiltInAccelerometer::InitSendable(SendableBuilder& builder) {
+ builder.SetSmartDashboardType("3AxisAccelerometer");
+ builder.AddDoubleProperty("X", [=]() { return GetX(); }, nullptr);
+ builder.AddDoubleProperty("Y", [=]() { return GetY(); }, nullptr);
+ builder.AddDoubleProperty("Z", [=]() { return GetZ(); }, nullptr);
+}