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"
#include "LiveWindow/LiveWindowSendable.h"

class Accelerometer : public SensorBase, public PIDSource, public LiveWindowSendable {
public:
    explicit Accelerometer(uint32_t channel);
    Accelerometer(uint8_t moduleNumber, uint32_t channel);
    explicit Accelerometer(AnalogChannel *channel);
    virtual ~Accelerometer();

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

    void UpdateTable();
    void StartLiveWindowMode();
    void StopLiveWindowMode();
    std::string GetSmartDashboardType();
    void InitTable(ITable *subTable);
    ITable * GetTable();

private:
    void InitAccelerometer();

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

#endif