Accelerometer.h

/*----------------------------------------------------------------------------*/
/* 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.  */
/*----------------------------------------------------------------------------*/

#ifndef ACCELEROMETER_H_
#define ACCELEROMETER_H_

#include "AnalogChannel.h"
#include "SensorBase.h"
#include "PIDSource.h"

class Accelerometer : public SensorBase, public PIDSource {
public:
        explicit Accelerometer(UINT32 channel);
        Accelerometer(UINT8 moduleNumber, UINT32 channel);
        explicit Accelerometer(AnalogChannel *channel);
        virtual ~Accelerometer();

        float GetAcceleration();
        void SetSensitivity(float sensitivity);
        void SetZero(float zero);
        double PIDGet();

private:
        void InitAccelerometer();

        AnalogChannel *m_analogChannel;
        float m_voltsPerG;
        float m_zeroGVoltage;
        bool m_allocatedChannel;
};

#endif