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AnalogAccelerometer Class Reference

Handle operation of an analog accelerometer. More...

#include <AnalogAccelerometer.h>

Inheritance diagram for AnalogAccelerometer:
SensorBase PIDSource LiveWindowSendable ErrorBase Sendable

Public Member Functions

 AnalogAccelerometer (int32_t channel)
 Create a new instance of an accelerometer. More...
 
 AnalogAccelerometer (AnalogInput *channel)
 Create a new instance of Accelerometer from an existing AnalogInput. More...
 
 AnalogAccelerometer (std::shared_ptr< AnalogInput > channel)
 Create a new instance of Accelerometer from an existing AnalogInput. More...
 
float GetAcceleration () const
 Return the acceleration in Gs. More...
 
void SetSensitivity (float sensitivity)
 Set the accelerometer sensitivity. More...
 
void SetZero (float zero)
 Set the voltage that corresponds to 0 G. More...
 
double PIDGet () override
 Get the Acceleration for the PID Source parent. More...
 
void UpdateTable () override
 Update the table for this sendable object with the latest values.
 
void StartLiveWindowMode () override
 Start having this sendable object automatically respond to value changes reflect the value on the table.
 
void StopLiveWindowMode () override
 Stop having this sendable object automatically respond to value changes.
 
std::string GetSmartDashboardType () const override
 
void InitTable (std::shared_ptr< ITable > subTable) override
 Initializes a table for this sendable object. More...
 
std::shared_ptr< ITableGetTable () const override
 
- Public Member Functions inherited from SensorBase
 SensorBase ()
 Creates an instance of the sensor base and gets an FPGA handle.
 
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
- Public Member Functions inherited from PIDSource
virtual void SetPIDSourceType (PIDSourceType pidSource)
 Set which parameter you are using as a process control variable. More...
 
PIDSourceType GetPIDSourceType () const
 

Additional Inherited Members

- Static Public Member Functions inherited from SensorBase
static void DeleteSingletons ()
 Delete all the singleton classes on the list. More...
 
static uint32_t GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (uint8_t moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckPWMChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInput (uint32_t channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutput (uint32_t channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (uint32_t channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (uint32_t channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Static Public Attributes inherited from SensorBase
static const uint32_t kDigitalChannels = 26
 
static const uint32_t kAnalogInputs = 8
 
static const uint32_t kAnalogOutputs = 2
 
static const uint32_t kSolenoidChannels = 8
 
static const uint32_t kSolenoidModules = 2
 
static const uint32_t kPwmChannels = 20
 
static const uint32_t kRelayChannels = 8
 
static const uint32_t kPDPChannels = 16
 
static const uint32_t kChassisSlots = 8
 
- Protected Member Functions inherited from SensorBase
void AddToSingletonList ()
 Add sensor to the singleton list. More...
 
- Protected Attributes inherited from ErrorBase
Error m_error
 
- Protected Attributes inherited from PIDSource
PIDSourceType m_pidSource = PIDSourceType::kDisplacement
 
- Static Protected Attributes inherited from SensorBase
static void * m_digital_ports [kDigitalChannels]
 
static void * m_relay_ports [kRelayChannels]
 
static void * m_pwm_ports [kPwmChannels]
 
- Static Protected Attributes inherited from ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

Handle operation of an analog accelerometer.

The accelerometer reads acceleration directly through the sensor. Many sensors have multiple axis and can be treated as multiple devices. Each is calibrated by finding the center value over a period of time.

Constructor & Destructor Documentation

AnalogAccelerometer::AnalogAccelerometer ( int32_t  channel)
explicit

Create a new instance of an accelerometer.

The constructor allocates desired analog input.

Parameters
channelThe channel number for the analog input the accelerometer is connected to
AnalogAccelerometer::AnalogAccelerometer ( AnalogInput channel)
explicit

Create a new instance of Accelerometer from an existing AnalogInput.

Make a new instance of accelerometer given an AnalogInput. This is particularly useful if the port is going to be read as an analog channel as well as through the Accelerometer class.

Parameters
channelThe existing AnalogInput object for the analog input the accelerometer is connected to
AnalogAccelerometer::AnalogAccelerometer ( std::shared_ptr< AnalogInput channel)
explicit

Create a new instance of Accelerometer from an existing AnalogInput.

Make a new instance of accelerometer given an AnalogInput. This is particularly useful if the port is going to be read as an analog channel as well as through the Accelerometer class.

Parameters
channelThe existing AnalogInput object for the analog input the accelerometer is connected to

Member Function Documentation

float AnalogAccelerometer::GetAcceleration ( ) const

Return the acceleration in Gs.

The acceleration is returned units of Gs.

Returns
The current acceleration of the sensor in Gs.
std::string AnalogAccelerometer::GetSmartDashboardType ( ) const
overridevirtual
Returns
the string representation of the named data type that will be used by the smart dashboard for this sendable

Implements Sendable.

std::shared_ptr< ITable > AnalogAccelerometer::GetTable ( ) const
overridevirtual
Returns
the table that is currently associated with the sendable

Implements Sendable.

void AnalogAccelerometer::InitTable ( std::shared_ptr< ITable subtable)
overridevirtual

Initializes a table for this sendable object.

Parameters
subtableThe table to put the values in.

Implements Sendable.

double AnalogAccelerometer::PIDGet ( )
overridevirtual

Get the Acceleration for the PID Source parent.

Returns
The current acceleration in Gs.

Implements PIDSource.

void AnalogAccelerometer::SetSensitivity ( float  sensitivity)

Set the accelerometer sensitivity.

This sets the sensitivity of the accelerometer used for calculating the acceleration. The sensitivity varies by accelerometer model. There are constants defined for various models.

Parameters
sensitivityThe sensitivity of accelerometer in Volts per G.
void AnalogAccelerometer::SetZero ( float  zero)

Set the voltage that corresponds to 0 G.

The zero G voltage varies by accelerometer model. There are constants defined for various models.

Parameters
zeroThe zero G voltage.

The documentation for this class was generated from the following files: