Accelerometer Class Reference

#include <Accelerometer.h>

Inheritance diagram for Accelerometer:

Public Member Functions
	Accelerometer (uint32_t channel)
	Accelerometer (uint8_t moduleNumber, uint32_t channel)
	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 ()
Public Member Functions inherited from SensorBase
	SensorBase ()
virtual	~SensorBase ()
Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.
virtual const Error &	GetError () const
virtual void	SetErrnoError (const char *contextMessage, const char *filename, const char *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, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...
virtual void	SetError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...
virtual void	SetWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...
virtual void	CloneError (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...

Additional Inherited Members
Public Types inherited from PIDSource
enum	PIDSourceParameter { kDistance, kRate, kAngle }
Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()
static uint32_t	GetDefaultAnalogModule ()
static uint32_t	GetDefaultDigitalModule ()
static uint32_t	GetDefaultSolenoidModule ()
static bool	CheckAnalogModule (uint8_t moduleNumber)
static bool	CheckDigitalModule (uint8_t moduleNumber)
static bool	CheckPWMModule (uint8_t moduleNumber)
static bool	CheckRelayModule (uint8_t moduleNumber)
static bool	CheckSolenoidModule (uint8_t moduleNumber)
static bool	CheckDigitalChannel (uint32_t channel)
static bool	CheckRelayChannel (uint32_t channel)
static bool	CheckPWMChannel (uint32_t channel)
static bool	CheckAnalogChannel (uint32_t channel)
static bool	CheckSolenoidChannel (uint32_t channel)
Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber)
static void	SetGlobalWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber)
static Error &	GetGlobalError ()
Static Public Attributes inherited from SensorBase
static const uint32_t	kSystemClockTicksPerMicrosecond = 40
static const uint32_t	kDigitalChannels = 14
static const uint32_t	kAnalogChannels = 8
static const uint32_t	kAnalogModules = 2
static const uint32_t	kDigitalModules = 2
static const uint32_t	kSolenoidChannels = 8
static const uint32_t	kSolenoidModules = 2
static const uint32_t	kPwmChannels = 10
static const uint32_t	kRelayChannels = 8
static const uint32_t	kChassisSlots = 8
Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()
Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.
Protected Attributes inherited from ErrorBase
Error	m_error
Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE)
static Error	_globalError

Detailed Description

Handle operation of the 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

Accelerometer::Accelerometer ( uint32_t  channel )

explicit

Create a new instance of an accelerometer.

The accelerometer is assumed to be in the first analog module in the given analog channel. The constructor allocates desired analog channel.

Accelerometer::Accelerometer	(	uint8_t	moduleNumber,
		uint32_t	channel
	)

Create new instance of accelerometer.

Make a new instance of the accelerometer given a module and channel. The constructor allocates the desired analog channel from the specified module

Parameters

moduleNumber	The analog module (1 or 2).
channel	The analog channel (1..8)

Accelerometer::Accelerometer ( AnalogChannel *  channel )

explicit

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

Accelerometer::~Accelerometer ( )

virtual

Delete the analog components used for the accelerometer.

Member Function Documentation

float Accelerometer::GetAcceleration

(

)

Return the acceleration in Gs.

The acceleration is returned units of Gs.

Returns

The current acceleration of the sensor in Gs.

double Accelerometer::PIDGet ( )

virtual

Get the Acceleration for the PID Source parent.

Returns

The current acceleration in Gs.

Implements PIDSource.

void Accelerometer::SetSensitivity

(

float

sensitivity

)

Set the accelerometer sensitivity.

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

Parameters

sensitivity

The sensitivity of accelerometer in Volts per G.

void Accelerometer::SetZero

(

float

zero

)

Set the voltage that corresponds to 0 G.

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

Parameters

zero	The zero G voltage.

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

• Accelerometer.h
• Accelerometer.cpp