WPILibC++  2021.3.1
frc::AnalogAccelerometer Class Reference

Handle operation of an analog accelerometer. More...

#include <frc/AnalogAccelerometer.h>

Inheritance diagram for frc::AnalogAccelerometer:
frc::ErrorBase frc::PIDSource frc::Sendable frc::SendableHelper< AnalogAccelerometer >

Public Member Functions

 AnalogAccelerometer (int 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...
 
 AnalogAccelerometer (AnalogAccelerometer &&)=default
 
AnalogAccelerometeroperator= (AnalogAccelerometer &&)=default
 
double GetAcceleration () const
 Return the acceleration in Gs. More...
 
void SetSensitivity (double sensitivity)
 Set the accelerometer sensitivity. More...
 
void SetZero (double zero)
 Set the voltage that corresponds to 0 G. More...
 
double PIDGet () override
 Get the Acceleration for the PID Source parent. More...
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=default
 
ErrorBaseoperator= (const ErrorBase &)=default
 
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int 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, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
void ClearGlobalErrors ()
 Clear global errors.
 
- Public Member Functions inherited from frc::PIDSource
virtual void SetPIDSourceType (PIDSourceType pidSource)
 Set which parameter you are using as a process control variable. More...
 
virtual PIDSourceType GetPIDSourceType () const
 
- Public Member Functions inherited from frc::SendableHelper< AnalogAccelerometer >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 
std::string GetName () const
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem)
 Sets the subsystem name of this Sendable object. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static Error GetGlobalError ()
 Retrieve the last global error.
 
static std::vector< ErrorGetGlobalErrors ()
 Retrieve all global errors.
 
- Protected Member Functions inherited from frc::SendableHelper< AnalogAccelerometer >
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 
- Protected Attributes inherited from frc::PIDSource
PIDSourceType m_pidSource = PIDSourceType::kDisplacement
 

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() [1/3]

frc::AnalogAccelerometer::AnalogAccelerometer ( int  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() [2/3]

frc::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() [3/3]

frc::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

◆ GetAcceleration()

double frc::AnalogAccelerometer::GetAcceleration ( ) const

Return the acceleration in Gs.

The acceleration is returned units of Gs.

Returns
The current acceleration of the sensor in Gs.

◆ InitSendable()

void frc::AnalogAccelerometer::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

◆ PIDGet()

double frc::AnalogAccelerometer::PIDGet ( )
overridevirtual

Get the Acceleration for the PID Source parent.

Returns
The current acceleration in Gs.

Implements frc::PIDSource.

◆ SetSensitivity()

void frc::AnalogAccelerometer::SetSensitivity ( double  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.

◆ SetZero()

void frc::AnalogAccelerometer::SetZero ( double  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 file: