Update accelerometer docs (#2291)

The Accelerometer interface was deprecated in wpilibsuite/allwpilib#5445.

Author: calcmogul

source/docs/software/hardware-apis/sensors/accelerometers-software.rst

@@ -55,27 +55,19 @@ The :code:`AnalogAccelerometer` class (`Java <https://github.wpilib.org/allwpili
 
 If users have a 3-axis analog accelerometer, they can use three instances of this class, one for each axis.
 
-
-The Accelerometer interface
----------------------------
-
-All 3-axis accelerometers in WPILib implement the :code:`Accelerometer` interface (`Java <https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_accelerometer.html>`__).  This interface defines functionality and settings common to all supported 3-axis accelerometers.
-
-The :code:`Accelerometer` interface contains getters for the acceleration along each cardinal direction (x, y, and z), as well as a setter for the range of accelerations the accelerometer will measure.
-
-.. warning:: Not all accelerometers are capable of measuring all ranges.
+There are getters for the acceleration along each cardinal direction (x, y, and z), as well as a setter for the range of accelerations the accelerometer will measure.
 
 .. tabs::
 
     .. code-tab:: java
 
         // Sets the accelerometer to measure between -8 and 8 G's
-        accelerometer.setRange(Accelerometer.Range.k8G);
+        accelerometer.setRange(BuiltInAccelerometer.Range.k8G);
 
     .. code-tab:: c++
 
         // Sets the accelerometer to measure between -8 and 8 G's
-        accelerometer.SetRange(Accelerometer::Range::kRange_8G);
+        accelerometer.SetRange(BuiltInAccelerometer::Range::kRange_8G);
 
 ADXL345_I2C
 ^^^^^^^^^^^
@@ -88,13 +80,13 @@ The :code:`ADXL345_I2C` class (`Java <https://github.wpilib.org/allwpilib/docs/r
 
         // Creates an ADXL345 accelerometer object on the MXP I2C port
         // with a measurement range from -8 to 8 G's
-        Accelerometer accelerometer = new ADXL345_I2C(I2C.Port.kMXP, Accelerometer.Range.k8G);
+        ADXL345_I2C accelerometer = new ADXL345_I2C(I2C.Port.kMXP, ADXL345_I2C.Range.k8G);
 
     .. code-tab:: c++
 
         // Creates an ADXL345 accelerometer object on the MXP I2C port
         // with a measurement range from -8 to 8 G's
-        frc::ADXL345_I2C accelerometer{I2C::Port::kMXP, Accelerometer::Range::kRange_8G};
+        frc::ADXL345_I2C accelerometer{I2C::Port::kMXP, frc::ADXL345_I2C::Range::kRange_8G};
 
 ADXL345_SPI
 ^^^^^^^^^^^
@@ -107,13 +99,13 @@ The :code:`ADXL345_SPI` class (`Java <https://github.wpilib.org/allwpilib/docs/r
 
         // Creates an ADXL345 accelerometer object on the MXP SPI port
         // with a measurement range from -8 to 8 G's
-        Accelerometer accelerometer = new ADXL345_SPI(SPI.Port.kMXP, Accelerometer.Range.k8G);
+        ADXL345_SPI accelerometer = new ADXL345_SPI(SPI.Port.kMXP, ADXL345_SPI.Range.k8G);
 
     .. code-tab:: c++
 
         // Creates an ADXL345 accelerometer object on the MXP SPI port
         // with a measurement range from -8 to 8 G's
-        frc::ADXL345_SPI accelerometer{SPI::Port::kMXP, Accelerometer::Range::kRange_8G};
+        frc::ADXL345_SPI accelerometer{SPI::Port::kMXP, frc::ADXL345_SPI::Range::kRange_8G};
 
 ADXL362
 ^^^^^^^
@@ -126,13 +118,13 @@ The :code:`ADXL362` class (`Java <https://github.wpilib.org/allwpilib/docs/relea
 
         // Creates an ADXL362 accelerometer object on the MXP SPI port
         // with a measurement range from -8 to 8 G's
-        Accelerometer accelerometer = new ADXL362(SPI.Port.kMXP, Accelerometer.Range.k8G);
+        ADXL362 accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
 
     .. code-tab:: c++
 
         // Creates an ADXL362 accelerometer object on the MXP SPI port
         // with a measurement range from -8 to 8 G's
-        frc::ADXL362 accelerometer{SPI::Port::kMXP, Accelerometer::Range::kRange_8G};
+        frc::ADXL362 accelerometer{SPI::Port::kMXP, frc::ADXL362::Range::kRange_8G};
 
 BuiltInAccelerometer
 ^^^^^^^^^^^^^^^^^^^^
@@ -145,13 +137,13 @@ The :code:`BuiltInAccelerometer` class (`Java <https://github.wpilib.org/allwpil
 
         // Creates an object for the built-in accelerometer
         // Range defaults to +- 8 G's
-        Accelerometer accelerometer = new BuiltInAccelerometer();
+        BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
 
     .. code-tab:: c++
 
         // Creates an object for the built-in accelerometer
         // Range defaults to +- 8 G's
-        frc::BuiltInAccelerometer accelerometer{};
+        frc::BuiltInAccelerometer accelerometer;
 
 Third-party accelerometers
 --------------------------
@@ -171,10 +163,10 @@ For detecting collisions, it is often more robust to measure the jerk than the a
 
     .. code-tab:: java
 
-        double prevXAccel = 0;
-        double prevYAccel = 0;
+        double prevXAccel = 0.0;
+        double prevYAccel = 0.0;
 
-        Accelerometer accelerometer = new BuiltInAccelerometer();
+        BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
 
         @Override
         public void robotPeriodic() {
@@ -184,19 +176,19 @@ For detecting collisions, it is often more robust to measure the jerk than the a
 
             // Calculates the jerk in the X and Y directions
             // Divides by .02 because default loop timing is 20ms
-            double xJerk = (xAccel - prevXAccel)/.02;
-            double yJerk = (yAccel - prevYAccel)/.02;
+            double xJerk = (xAccel - prevXAccel) / 0.02;
+            double yJerk = (yAccel - prevYAccel) / 0.02;
 
             prevXAccel = xAccel;
             prevYAccel = yAccel;
         }
 
     .. code-tab:: c++
 
-        double prevXAccel = 0;
-        double prevYAccel = 0;
+        double prevXAccel = 0.0;
+        double prevYAccel = 0.0;
 
-        frc::BuiltInAccelerometer accelerometer{};
+        frc::BuiltInAccelerometer accelerometer;
 
         void Robot::RobotPeriodic() {
             // Gets the current accelerations in the X and Y directions
@@ -205,8 +197,8 @@ For detecting collisions, it is often more robust to measure the jerk than the a
 
             // Calculates the jerk in the X and Y directions
             // Divides by .02 because default loop timing is 20ms
-            double xJerk = (xAccel - prevXAccel)/.02;
-            double yJerk = (yAccel - prevYAccel)/.02;
+            double xJerk = (xAccel - prevXAccel) / 0.02;
+            double yJerk = (yAccel - prevYAccel) / 0.02;
 
             prevXAccel = xAccel;
             prevYAccel = yAccel;
@@ -218,7 +210,7 @@ Most accelerometers legal for FRC use are quite noisy, and it is often a good id
 
     .. code-tab:: java
 
-        Accelerometer accelerometer = new BuiltInAccelerometer();
+        BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
 
         // Create a LinearFilter that will calculate a moving average of the measured X acceleration over the past 10 iterations of the main loop