This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Accelerometer.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Accelerometer.cpp
new file mode 100644
index 0000000..6a367a8
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Accelerometer.cpp
@@ -0,0 +1,155 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "Accelerometer.h"
+#include "AnalogModule.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Common function for initializing the accelerometer.
+ */
+void Accelerometer::InitAccelerometer()
+{
+ m_voltsPerG = 1.0;
+ m_zeroGVoltage = 2.5;
+ nUsageReporting::report(nUsageReporting::kResourceType_Accelerometer, m_analogChannel->GetChannel(), m_analogChannel->GetModuleNumber() - 1);
+ LiveWindow::GetInstance()->AddSensor("Accelerometer", m_analogChannel->GetModuleNumber(), m_analogChannel->GetChannel(), this);
+}
+
+/**
+ * Create a new instance of an accelerometer.
+ *
+ * The accelerometer is assumed to be in the first analog module in the given analog channel. The
+ * constructor allocates desired analog channel.
+ */
+Accelerometer::Accelerometer(UINT32 channel)
+{
+ m_analogChannel = new AnalogChannel(channel);
+ m_allocatedChannel = true;
+ InitAccelerometer();
+}
+
+/**
+ * Create new instance of accelerometer.
+ *
+ * Make a new instance of the accelerometer given a module and channel. The constructor allocates
+ * the desired analog channel from the specified module
+ *
+ * @param moduleNumber The analog module (1 or 2).
+ * @param channel The analog channel (1..8)
+ */
+Accelerometer::Accelerometer(UINT8 moduleNumber, UINT32 channel)
+{
+ m_analogChannel = new AnalogChannel(moduleNumber, channel);
+ m_allocatedChannel = true;
+ InitAccelerometer();
+}
+
+/**
+ * Create a new instance of Accelerometer from an existing AnalogChannel.
+ * Make a new instance of accelerometer given an AnalogChannel. This is particularly
+ * useful if the port is going to be read as an analog channel as well as through
+ * the Accelerometer class.
+ */
+Accelerometer::Accelerometer(AnalogChannel *channel)
+{
+ if (channel == NULL)
+ {
+ wpi_setWPIError(NullParameter);
+ }
+ else
+ {
+ m_analogChannel = channel;
+ InitAccelerometer();
+ }
+ m_allocatedChannel = false;
+}
+
+/**
+ * Delete the analog components used for the accelerometer.
+ */
+Accelerometer::~Accelerometer()
+{
+ if (m_allocatedChannel)
+ {
+ delete m_analogChannel;
+ }
+}
+
+/**
+ * Return the acceleration in Gs.
+ *
+ * The acceleration is returned units of Gs.
+ *
+ * @return The current acceleration of the sensor in Gs.
+ */
+float Accelerometer::GetAcceleration()
+{
+ return (m_analogChannel->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
+}
+
+/**
+ * Set the accelerometer sensitivity.
+ *
+ * This sets the sensitivity of the accelerometer used for calculating the acceleration.
+ * The sensitivity varys by accelerometer model. There are constants defined for various models.
+ *
+ * @param sensitivity The sensitivity of accelerometer in Volts per G.
+ */
+void Accelerometer::SetSensitivity(float sensitivity)
+{
+ m_voltsPerG = sensitivity;
+}
+
+/**
+ * Set the voltage that corresponds to 0 G.
+ *
+ * The zero G voltage varys by accelerometer model. There are constants defined for various models.
+ *
+ * @param zero The zero G voltage.
+ */
+void Accelerometer::SetZero(float zero)
+{
+ m_zeroGVoltage = zero;
+}
+
+/**
+ * Get the Acceleration for the PID Source parent.
+ *
+ * @return The current acceleration in Gs.
+ */
+double Accelerometer::PIDGet()
+{
+ return GetAcceleration();
+}
+
+void Accelerometer::UpdateTable() {
+ if (m_table != NULL) {
+ m_table->PutNumber("Value", GetAcceleration());
+ }
+}
+
+void Accelerometer::StartLiveWindowMode() {
+}
+
+void Accelerometer::StopLiveWindowMode() {
+}
+
+std::string Accelerometer::GetSmartDashboardType() {
+ return "Accelerometer";
+}
+
+void Accelerometer::InitTable(ITable *subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+ITable * Accelerometer::GetTable() {
+ return m_table;
+}
+