Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/ADXL362.h b/wpilibc/athena/include/ADXL362.h
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+++ b/wpilibc/athena/include/ADXL362.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 <memory>
+#include <string>
+
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SPI.h"
+#include "SensorBase.h"
+#include "interfaces/Accelerometer.h"
+
+namespace frc {
+
+class DigitalInput;
+class DigitalOutput;
+
+/**
+ * ADXL362 SPI Accelerometer.
+ *
+ * This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
+ */
+class ADXL362 : public Accelerometer, public LiveWindowSendable {
+ public:
+ enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+ struct AllAxes {
+ double XAxis;
+ double YAxis;
+ double ZAxis;
+ };
+
+ public:
+ explicit ADXL362(Range range = kRange_2G);
+ explicit ADXL362(SPI::Port port, Range range = kRange_2G);
+ virtual ~ADXL362() = default;
+
+ ADXL362(const ADXL362&) = delete;
+ ADXL362& operator=(const ADXL362&) = delete;
+
+ // Accelerometer interface
+ void SetRange(Range range) override;
+ double GetX() override;
+ double GetY() override;
+ double GetZ() override;
+
+ virtual double GetAcceleration(Axes axis);
+ virtual AllAxes GetAccelerations();
+
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subtable) override;
+ void UpdateTable() override;
+ std::shared_ptr<ITable> GetTable() const override;
+ void StartLiveWindowMode() override {}
+ void StopLiveWindowMode() override {}
+
+ private:
+ SPI m_spi;
+ double m_gsPerLSB = 0.001;
+
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc