[hal, wpilib] Remove analog accumulator and analog gyro (#7697)

The 2 high level classes were temporarily kept to keep the examples compiling. We will remove those when we have the interface into the built in IMU.

glass/src/lib/native/cpp/hardware/AnalogInput.cpp

@@ -30,11 +30,7 @@ void glass::DisplayAnalogInput(AnalogInputModel* model, int index) {
     wpi::format_to_n_c_str(label, sizeof(label), "In[{}]###name", index);
   }
 
-  if (model->IsGyro()) {
-    ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
-    ImGui::LabelText(label, "AnalogGyro[%d]", index);
-    ImGui::PopStyleColor();
-  } else if (auto simDevice = model->GetSimDevice()) {
+  if (auto simDevice = model->GetSimDevice()) {
     ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
     ImGui::LabelText(label, "%s", simDevice);
     ImGui::PopStyleColor();

glass/src/lib/native/include/glass/hardware/AnalogInput.h

@@ -16,7 +16,6 @@ class DoubleSource;
 
 class AnalogInputModel : public Model {
  public:
-  virtual bool IsGyro() const = 0;
   virtual const char* GetSimDevice() const = 0;
 
   virtual DoubleSource* GetVoltageData() = 0;

hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java

@@ -5,10 +5,9 @@
 package edu.wpi.first.hal;
 
 /**
- * Analog Input / Output / Accumulator / Trigger JNI Functions.
+ * Analog Input / Output / Trigger JNI Functions.
  *
  * @see "hal/AnalogInput.h"
- * @see "hal/AnalogAccumulator.h"
  * @see "hal/AnalogTrigger.h"
  */
 public class AnalogJNI extends JNIWrapper {
@@ -249,92 +248,6 @@ public interface AnalogTriggerType {
    */
   public static native int getAnalogOffset(int analogPortHandle);
 
-  /**
-   * Is the channel attached to an accumulator.
-   *
-   * @param analogPortHandle Handle to the analog port.
-   * @return The analog channel is attached to an accumulator.
-   * @see "HAL_IsAccumulatorChannel"
-   */
-  public static native boolean isAccumulatorChannel(int analogPortHandle);
-
-  /**
-   * Initialize the accumulator.
-   *
-   * @param analogPortHandle Handle to the analog port.
-   * @see "HAL_InitAccumulator"
-   */
-  public static native void initAccumulator(int analogPortHandle);
-
-  /**
-   * Resets the accumulator to the initial value.
-   *
-   * @param analogPortHandle Handle to the analog port.
-   * @see "HAL_ResetAccumulator"
-   */
-  public static native void resetAccumulator(int analogPortHandle);
-
-  /**
-   * Set the center value of the accumulator.
-   *
-   * <p>The center value is subtracted from each A/D value before it is added to the accumulator.
-   * This is used for the center value of devices like gyros and accelerometers to make integration
-   * work and to take the device offset into account when integrating.
-   *
-   * <p>This center value is based on the output of the oversampled and averaged source from channel
-   * 1. Because of this, any non-zero oversample bits will affect the size of the value for this
-   * field.
-   *
-   * @param analogPortHandle Handle to the analog port.
-   * @param center The center value of the accumulator.
-   * @see "HAL_SetAccumulatorCenter"
-   */
-  public static native void setAccumulatorCenter(int analogPortHandle, int center);
-
-  /**
-   * Set the accumulator's deadband.
-   *
-   * @param analogPortHandle Handle to the analog port.
-   * @param deadband The deadband of the accumulator.
-   * @see "HAL_SetAccumulatorDeadband"
-   */
-  public static native void setAccumulatorDeadband(int analogPortHandle, int deadband);
-
-  /**
-   * Read the accumulated value.
-   *
-   * <p>Read the value that has been accumulating on channel 1. The accumulator is attached after
-   * the oversample and average engine.
-   *
-   * @param analogPortHandle Handle to the analog port.
-   * @return The 64-bit value accumulated since the last Reset().
-   * @see "HAL_GetAccumulatorValue"
-   */
-  public static native long getAccumulatorValue(int analogPortHandle);
-
-  /**
-   * Read the number of accumulated values.
-   *
-   * <p>Read the count of the accumulated values since the accumulator was last Reset().
-   *
-   * @param analogPortHandle Handle to the analog port.
-   * @return The number of times samples from the channel were accumulated.
-   * @see "HAL_GetAccumulatorCount"
-   */
-  public static native int getAccumulatorCount(int analogPortHandle);
-
-  /**
-   * Read the accumulated value and the number of accumulated values atomically.
-   *
-   * <p>This function reads the value and count from the FPGA atomically. This can be used for
-   * averaging.
-   *
-   * @param analogPortHandle Handle to the analog port.
-   * @param result Accumulator result.
-   * @see "HAL_GetAccumulatorOutput"
-   */
-  public static native void getAccumulatorOutput(int analogPortHandle, AccumulatorResult result);
-
   /**
    * Initializes an analog trigger.
    *

hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java

@@ -137,29 +137,6 @@ public int getAnalogInputAveraged(int analogInputHandle) {
     return readValue(data.m_valueType + 2, data.m_index);
   }
 
-  public void getAnalogAccumulator(int analogInputHandle, AccumulatorResult result) {
-    BaseStore data = m_propertyMap.get(analogInputHandle);
-    if (data == null) {
-      data = addSensorInternal(analogInputHandle);
-    }
-
-    if (data.m_index == 0) {
-      int val0 = readValue(kEnable_Accumulator0, 0);
-      int val1 = readValue(kEnable_Accumulator0, 1);
-      int val2 = readValue(kEnable_Accumulator0, 2);
-      result.count = val2;
-      result.value = ((long) val1 << 32) | val0;
-    } else if (data.m_index == 1) {
-      int val0 = readValue(kEnable_Accumulator1, 0);
-      int val1 = readValue(kEnable_Accumulator1, 1);
-      int val2 = readValue(kEnable_Accumulator1, 2);
-      result.count = val2;
-      result.value = ((long) val1 << 32) | val0;
-    } else {
-      throw new RuntimeException("Resource not found in DMA capture");
-    }
-  }
-
   public int getDutyCycleOutput(int dutyCycleHandle) {
     BaseStore data = m_propertyMap.get(dutyCycleHandle);
     if (data == null) {