1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc {
/**
* Built-in accelerometer.
*
* This class allows access to the roboRIO's internal accelerometer.
*/
class BuiltInAccelerometer : public wpi::Sendable,
public wpi::SendableHelper<BuiltInAccelerometer> {
public:
/**
* Accelerometer range.
*/
enum Range {
/// 2 Gs max.
kRange_2G = 0,
/// 4 Gs max.
kRange_4G = 1,
/// 8 Gs max.
kRange_8G = 2
};
/**
* Constructor.
*
* @param range The range the accelerometer will measure
*/
explicit BuiltInAccelerometer(Range range = kRange_8G);
BuiltInAccelerometer(BuiltInAccelerometer&&) = default;
BuiltInAccelerometer& operator=(BuiltInAccelerometer&&) = default;
/**
* Set the measuring range of the accelerometer.
*
* @param range The maximum acceleration, positive or negative, that the
* accelerometer will measure.
*/
void SetRange(Range range);
/**
* @return The acceleration of the roboRIO along the X axis in g-forces
*/
double GetX();
/**
* @return The acceleration of the roboRIO along the Y axis in g-forces
*/
double GetY();
/**
* @return The acceleration of the roboRIO along the Z axis in g-forces
*/
double GetZ();
void InitSendable(wpi::SendableBuilder& builder) override;
};
} // namespace frc