text: // Copyright (c) FIRST and other WPILib contributors.
  // Open Source Software; you can modify and/or share it under the terms of
  // the WPILib BSD license file in the root directory of this project.
  
  #include "frc/AnalogAccelerometer.h"
  
  #include <hal/FRCUsageReporting.h>
  
  #include "frc/Base.h"
  #include "frc/Errors.h"
  #include "frc/smartdashboard/SendableBuilder.h"
  #include "frc/smartdashboard/SendableRegistry.h"
  
  using namespace frc;
  
  AnalogAccelerometer::AnalogAccelerometer(int channel)
      : AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
    SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
  }
  
  AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
      : m_analogInput(channel, NullDeleter<AnalogInput>()) {
    if (!channel) {
      throw FRC_MakeError(err::NullParameter, "channel");
    }
    InitAccelerometer();
  }
  
  AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr<AnalogInput> channel)
      : m_analogInput(channel) {
    if (!channel) {
      throw FRC_MakeError(err::NullParameter, "channel");
    }
    InitAccelerometer();
  }
  
  double AnalogAccelerometer::GetAcceleration() const {
    return (m_analogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
  }
  
  void AnalogAccelerometer::SetSensitivity(double sensitivity) {
    m_voltsPerG = sensitivity;
  }
  
  void AnalogAccelerometer::SetZero(double zero) {
    m_zeroGVoltage = zero;
  }
  
  void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
    builder.SetSmartDashboardType("Accelerometer");
    builder.AddDoubleProperty(
        "Value", [=]() { return GetAcceleration(); }, nullptr);
  }
  
  void AnalogAccelerometer::InitAccelerometer() {
    HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
               m_analogInput->GetChannel() + 1);
  
    SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
                                          m_analogInput->GetChannel());
  }
  