caccelerometer.cpp

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

#include "Accelerometer.h"
#include "CAccelerometer.h"
#include "AnalogModule.h"
#include "CWrappers.h"

static Accelerometer* accelerometers[SensorBase::kAnalogModules][SensorBase::kAnalogChannels];
static bool initialized = false;

/**
 * Allocate an instance of the C Accelerometer object
 * @param slot The slot the analog module is plugged into
 * @param channel The analog module channel the accelerometer is plugged into
 */
static Accelerometer *AllocateAccelerometer(UINT32 slot, UINT32 channel)
{
	if (!initialized)
	{
		initialized = true;
		for (unsigned i = 1; i <= SensorBase::kAnalogModules; i++)
			for (unsigned j = 1; j <= SensorBase::kAnalogChannels; j++)
				accelerometers[i][j] = NULL;
	}
	if (!SensorBase::CheckAnalogModule(slot) || !SensorBase::CheckAnalogChannel(channel))
		return NULL;
	unsigned index = AnalogModule::SlotToIndex(slot);
	if (accelerometers[index][channel - 1] == NULL)
	{
		accelerometers[index][channel - 1] = new Accelerometer(slot, channel);
	}
	return accelerometers[index][channel - 1];
}

/**
 * Get the acceleration in Gs
 * @param channel The channel the accelerometer is plugged into
 * @returns Returns the acceleration in Gs
 */
float GetAcceleration(UINT32 channel)
{
	Accelerometer *accel = AllocateAccelerometer(SensorBase::GetDefaultAnalogModule(), channel);
	return accel->GetAcceleration();
}

/**
 * Get the acceleration in Gs
 * @param slot The slot the analog module is plugged into
 * @param channel The channel the accelerometer is plugged into
 * @returns Returns the acceleration in Gs
 */
float GetAcceleration(UINT32 slot, UINT32 channel)
{
	Accelerometer *accel = AllocateAccelerometer(slot, channel);
	return accel->GetAcceleration();
}

/**
 * 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.
 *
 * @param channel The channel the accelerometer is plugged into
 * @param sensitivity The sensitivity of accelerometer in Volts per G.
 */
void SetAccelerometerSensitivity(UINT32 channel, float sensitivity)
{
	Accelerometer *accel = AllocateAccelerometer(SensorBase::GetDefaultAnalogModule(), channel);
	accel->SetSensitivity(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.
 *
 * @param slot The slot the analog module is plugged into
 * @param channel The channel the accelerometer is plugged into
 * @param sensitivity The sensitivity of accelerometer in Volts per G.
 */
void SetAccelerometerSensitivity(UINT32 slot, UINT32 channel, float sensitivity)
{
	Accelerometer *accel = AllocateAccelerometer(slot, channel);
	accel->SetSensitivity(sensitivity);
}

/**
 * Set the voltage that corresponds to 0 G.
 *
 * The zero G voltage varys by accelerometer model. There are constants defined for various models.
 *
 * @param channel The channel the accelerometer is plugged into
 * @param zero The zero G voltage.
 */
void SetAccelerometerZero(UINT32 channel, float zero)
{
	Accelerometer *accel = AllocateAccelerometer(SensorBase::GetDefaultAnalogModule(), channel);
	accel->SetZero(zero);
}

/**
 * Set the voltage that corresponds to 0 G.
 *
 * The zero G voltage varys by accelerometer model. There are constants defined for various models.
 *
 * @param slot The slot the analog module is plugged into
 * @param channel The channel the accelerometer is plugged into
 * @param zero The zero G voltage.
 */
void SetAccelerometerZero(UINT32 slot, UINT32 channel, float zero)
{
	Accelerometer *accel = AllocateAccelerometer(slot, channel);
	accel->SetZero(zero);
}

/**
 * Delete the accelerometer underlying object
 * Deletes the object that is associated with this accelerometer and frees up the storage
 * and the ports.
 *
 * @param slot The slot the analog module is plugged into
 * @param channel The channel the accelerometer is plugged into
 */
void DeleteAccelerometer(UINT32 slot, UINT32 channel)
{
	if (SensorBase::CheckAnalogModule(slot) && SensorBase::CheckAnalogChannel(channel))
	{
		unsigned index = AnalogModule::SlotToIndex(slot);
		delete accelerometers[index][channel - 1];
		accelerometers[index][channel - 1] = NULL;
	}
}

/**
 * Delete the accelerometer underlying object
 * Deletes the object that is associated with this accelerometer and frees up the storage
 * and the ports.
 *
 * @param channel The channel the accelerometer is plugged into
 */
void DeleteAccelerometer(UINT32 channel)
{
	DeleteAccelerometer(SensorBase::GetDefaultAnalogModule(), channel);
}