Accelerometer.cpp

/*----------------------------------------------------------------------------*/
/* 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 "AnalogModule.h"
#include "WPIErrors.h"

void Accelerometer::InitAccelerometer()
{
        m_voltsPerG = 1.0;
        m_zeroGVoltage = 2.5;
}

Accelerometer::Accelerometer(UINT32 channel)
{
        m_analogChannel = new AnalogChannel(channel);
        m_allocatedChannel = true;
        InitAccelerometer();
}

Accelerometer::Accelerometer(UINT8 moduleNumber, UINT32 channel)
{
        m_analogChannel = new AnalogChannel(moduleNumber, channel);
        m_allocatedChannel = true;
        InitAccelerometer();
}

Accelerometer::Accelerometer(AnalogChannel *channel)
{
        if (channel == NULL)
        {
                wpi_setWPIError(NullParameter);
        }
        else
        {
                m_analogChannel = channel;
                InitAccelerometer();
        }
        m_allocatedChannel = false;
}
        
Accelerometer::~Accelerometer()
{
        if (m_allocatedChannel)
        {
                delete m_analogChannel;
        }
}

float Accelerometer::GetAcceleration()
{
        return (m_analogChannel->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
}

void Accelerometer::SetSensitivity(float sensitivity)
{
        m_voltsPerG = sensitivity;
}

void Accelerometer::SetZero(float zero)
{
        m_zeroGVoltage = zero;
}

double Accelerometer::PIDGet()
{
        return GetAcceleration();
}