11 #include "SensorBase.h" 12 #include "interfaces/Accelerometer.h" 25 enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
33 explicit ADXL345_I2C(I2C::Port port, Range range = kRange_2G,
34 int deviceAddress = kAddress);
42 double GetX()
override;
43 double GetY()
override;
44 double GetZ()
override;
54 static constexpr
int kAddress = 0x1D;
55 static constexpr
int kPowerCtlRegister = 0x2D;
56 static constexpr
int kDataFormatRegister = 0x31;
57 static constexpr
int kDataRegister = 0x32;
58 static constexpr
double kGsPerLSB = 0.00390625;
61 kPowerCtl_Link = 0x20,
62 kPowerCtl_AutoSleep = 0x10,
63 kPowerCtl_Measure = 0x08,
64 kPowerCtl_Sleep = 0x04
67 enum DataFormatFields {
68 kDataFormat_SelfTest = 0x80,
69 kDataFormat_SPI = 0x40,
70 kDataFormat_IntInvert = 0x20,
71 kDataFormat_FullRes = 0x08,
72 kDataFormat_Justify = 0x04
Definition: RobotController.cpp:14
ADXL345_I2C(I2C::Port port, Range range=kRange_2G, int deviceAddress=kAddress)
Constructs the ADXL345 Accelerometer over I2C.
Definition: ADXL345_I2C.cpp:23
Base class for all sensors.
Definition: SensorBase.h:25
Definition: ADXL345_I2C.h:27
void InitSendable(SendableBuilder &builder) override
Initializes this Sendable object.
Definition: ADXL345_I2C.cpp:77
void SetRange(Range range) override
Common interface for setting the measuring range of an accelerometer.
Definition: ADXL345_I2C.cpp:35
ADXL345 Accelerometer on I2C.
Definition: ADXL345_I2C.h:23
virtual double GetAcceleration(Axes axis)
Get the acceleration of one axis in Gs.
Definition: ADXL345_I2C.cpp:52
I2C bus interface class.
Definition: I2C.h:24
double GetZ() override
Common interface for getting the z axis acceleration.
Definition: ADXL345_I2C.cpp:44
double GetX() override
Common interface for getting the x axis acceleration.
Definition: ADXL345_I2C.cpp:40
Definition: SendableBuilder.h:23
Interface for 3-axis accelerometers.
Definition: Accelerometer.h:15
double GetY() override
Common interface for getting the y axis acceleration.
Definition: ADXL345_I2C.cpp:42
virtual AllAxes GetAccelerations()
Get the acceleration of all axes in Gs.
Definition: ADXL345_I2C.cpp:65