Accelerometer Implementation [AARD-1924]

fission/src/systems/simulation/wpilib_brain/SimInput.ts

@@ -6,4 +6,4 @@ export abstract class SimInput {
     public get device(): string {
         return this._device
     }
-}
+}

fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts

@@ -93,7 +93,7 @@ class WPILibBrain extends Brain {
         }
 
         this.addSimInput(new SimGyroInput("Test Gyro[1]", this._mechanism))
-        this.addSimInput(new SimAccelInput("ADXL362[4]", this._mechanism))
+        this.addSimInput(new SimAccelInput("Test Accel[4]", this._mechanism))
         this.addSimInput(new SimDigitalInput("SYN DI[0]", () => random() > 0.5))
         this.addSimOutput(new SimDigitalOutput("SYN DO[1]"))
         this.addSimInput(new SimAnalogInput("SYN AI[0]", () => random() * 12))

simulation/SyntheSimJava/build.gradle

@@ -54,6 +54,9 @@ dependencies {
     implementation "edu.wpi.first.wpiutil:wpiutil-java:$WPI_Version"
     implementation "edu.wpi.first.hal:hal-java:$WPI_Version"
 
+    // NetworkTables
+    implementation "edu.wpi.first.ntcore:ntcore-java:$WPI_Version"
+
     // REVRobotics
     implementation "com.revrobotics.frc:REVLib-java:$REV_Version"
 

simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Accel.java

@@ -0,0 +1,80 @@
+package com.autodesk.synthesis;
+
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDevice.Direction;
+import edu.wpi.first.hal.SimDouble;
+
+/**
+ * Accelerometer class for easy implementation of documentation-compliant simulation data.
+ * 
+ * See https://github.com/wpilibsuite/allwpilib/blob/6478ba6e3fa317ee041b8a41e562d925602b6ea4/simulation/halsim_ws_core/doc/hardware_ws_api.md
+ * for documentation on the WebSocket API Specification.
+ */
+public class Accel {
+    private SimDevice m_device;
+    private SimDouble m_range;
+    private SimBoolean m_connected;
+    private SimDouble m_x, m_y, m_z;
+
+    /**
+     * Creates a CANMotor sim device in accordance with the WebSocket API Specification.
+     * 
+     * @param name Name of the Accel. This is generally the class name of the originating gyro (i.e. "ADXRS450").
+     * @param deviceId ID of the Gyro.
+     */
+    public Accel(String name, int deviceId) {
+        m_device = SimDevice.create("Accel:" + name, deviceId);
+
+        m_range = m_device.createDouble("range", Direction.kOutput, 0.0);
+        m_connected = m_device.createBoolean("connected", Direction.kOutput, false);
+        m_x = m_device.createDouble("x", Direction.kInput, 0);
+        m_y = m_device.createDouble("y", Direction.kInput, 0);
+        m_z = m_device.createDouble("z", Direction.kInput, 0);
+    }
+
+    /**
+     * Set the range of the accel.
+     *
+     * @param range Range of the accel
+     */
+    public void setRange(double range) {
+        if (Double.isNaN(range) || Double.isInfinite(range)) {
+            range = 0.0;
+        }
+
+        m_range.set(range);
+    }
+
+    public void setConnected(boolean connected) {
+        m_connected.set(connected);
+    }
+
+    /**
+     * Get the x position of the accel.
+     *
+     * @return x
+     */
+    public double getX() {
+        return m_x.get();
+    }
+
+    /**
+     * Get the y position of the accel.
+     *
+     * @return y
+     */
+    public double getY() {
+        return m_y.get();
+    }
+
+    /**
+     * Get the z position of the accel.
+     *
+     * @return z
+     */
+    public double getZ() {
+        return m_z.get();
+    }
+
+}

simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/wpilibj/ADXL362.java

@@ -0,0 +1,87 @@
+package com.autodesk.synthesis.wpilibj;
+
+import com.autodesk.synthesis.Accel;
+
+import edu.wpi.first.wpilibj.SPI;
+
+/**
+ * ADXL362 wrapper for simulation support.
+ * Extends the original WPILib ADXL362 accelerometer class to provide
+ * simulated accelerometer data during simulation.
+ */
+public class ADXL362 extends edu.wpi.first.wpilibj.ADXL362 {
+    private Accel m_Accel;
+
+    /**
+     * Constructor for ADXL362 accelerometer.
+     * 
+     * @param port SPI port the accelerometer is connected to
+     * @param range The range of the accelerometer
+     */
+    public ADXL362(SPI.Port port, Range range) {
+        super(port, range);
+        init("SPI", port.value, range);
+    }
+
+    /**
+     * Constructor with default range.
+     * 
+     * @param port SPI port the accelerometer is connected to
+     */
+    public ADXL362(SPI.Port port) {
+        this(port, Range.k2G);
+    }
+
+    private void init(String commType, int port, Range range) {
+        this.m_Accel = new Accel("Accel: " + commType, port);
+        this.m_Accel.setConnected(true);
+
+        double rangeValue;
+        switch (range) {
+            case k2G:
+                rangeValue = 2.0;
+                break;
+            case k4G:
+                rangeValue = 4.0;
+                break;
+            case k8G:
+                rangeValue = 8.0;
+                break;
+            default:
+                rangeValue = 2.0;
+                break;
+        }
+
+        this.m_Accel.setRange(rangeValue);
+    }
+
+    /**
+     * Get the acceleration in the X-axis.
+     * 
+     * @return X-axis acceleration in g-forces
+     */
+    @Override
+    public double getX() {
+        return m_Accel.getX();
+    }
+
+    /**
+     * Get the acceleration in the Y-axis.
+     * 
+     * @return Y-axis acceleration in g-forces
+     */
+    @Override
+    public double getY() {
+        return m_Accel.getY();
+    }
+
+    /**
+     * Get the acceleration in the Z-axis.
+     * 
+     * @return Z-axis acceleration in g-forces
+     */
+    @Override
+    public double getZ() {
+        return m_Accel.getZ();
+    }
+}

simulation/samples/JavaAutoSample/src/main/java/frc/robot/Robot.java

@@ -10,7 +10,6 @@
 
 import edu.wpi.first.wpilibj.SPI;
 
-import edu.wpi.first.wpilibj.ADXL362;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -21,6 +20,7 @@
 import com.autodesk.synthesis.revrobotics.RelativeEncoder;
 import com.autodesk.synthesis.revrobotics.SparkAbsoluteEncoder;
 import com.kauailabs.navx.frc.AHRS;
+import com.autodesk.synthesis.wpilibj.ADXL362;
 import com.autodesk.synthesis.CANEncoder;
 import com.autodesk.synthesis.ctre.TalonFX;
 
@@ -39,7 +39,7 @@ public class Robot extends TimedRobot {
     private String m_autoSelected;
     private final SendableChooser<String> m_chooser = new SendableChooser<>();
 
-    private ADXL362 m_Accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
+    private ADXL362 m_Accel = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
     private AHRS m_Gyro = new AHRS();
 
     private CANSparkMax m_sparkLeft = new CANSparkMax(1, MotorType.kBrushless);

simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java

@@ -10,7 +10,6 @@
 
 import edu.wpi.first.wpilibj.SPI;
 
-import edu.wpi.first.wpilibj.ADXL362;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -20,6 +19,7 @@
 import com.autodesk.synthesis.revrobotics.CANSparkMax;
 import com.kauailabs.navx.frc.AHRS;
 import com.autodesk.synthesis.ctre.TalonFX;
+import com.autodesk.synthesis.wpilibj.ADXL362;
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -41,7 +41,7 @@ public class Robot extends TimedRobot {
   private TalonFX m_Talon = new TalonFX(7);
   private XboxController m_Controller = new XboxController(0);
 
-  private ADXL362 m_Accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
+  private ADXL362 m_Accel = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
   private AHRS m_Gyro = new AHRS();
 
   private DigitalInput m_DI = new DigitalInput(0);