11 #include "SensorBase.h" 12 #include "interfaces/Accelerometer.h" 24 enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
32 explicit ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
40 double GetX()
override;
41 double GetY()
override;
42 double GetZ()
override;
52 static constexpr
int kPowerCtlRegister = 0x2D;
53 static constexpr
int kDataFormatRegister = 0x31;
54 static constexpr
int kDataRegister = 0x32;
55 static constexpr
double kGsPerLSB = 0.00390625;
57 enum SPIAddressFields { kAddress_Read = 0x80, kAddress_MultiByte = 0x40 };
60 kPowerCtl_Link = 0x20,
61 kPowerCtl_AutoSleep = 0x10,
62 kPowerCtl_Measure = 0x08,
63 kPowerCtl_Sleep = 0x04
66 enum DataFormatFields {
67 kDataFormat_SelfTest = 0x80,
68 kDataFormat_SPI = 0x40,
69 kDataFormat_IntInvert = 0x20,
70 kDataFormat_FullRes = 0x08,
71 kDataFormat_Justify = 0x04
double GetX() override
Common interface for getting the x axis acceleration.
Definition: ADXL345_SPI.cpp:53
Definition: RobotController.cpp:14
Base class for all sensors.
Definition: SensorBase.h:25
double GetZ() override
Common interface for getting the z axis acceleration.
Definition: ADXL345_SPI.cpp:57
SPI bus interface class.
Definition: SPI.h:31
ADXL345_SPI(SPI::Port port, Range range=kRange_2G)
Constructor.
Definition: ADXL345_SPI.cpp:22
Definition: ADXL345_SPI.h:26
virtual AllAxes GetAccelerations()
Get the acceleration of all axes in Gs.
Definition: ADXL345_SPI.cpp:83
ADXL345 Accelerometer on SPI.
Definition: ADXL345_SPI.h:22
void InitSendable(SendableBuilder &builder) override
Initializes this Sendable object.
Definition: ADXL345_SPI.cpp:104
Definition: SendableBuilder.h:23
Interface for 3-axis accelerometers.
Definition: Accelerometer.h:15
virtual double GetAcceleration(Axes axis)
Get the acceleration of one axis in Gs.
Definition: ADXL345_SPI.cpp:65
void SetRange(Range range) override
Common interface for setting the measuring range of an accelerometer.
Definition: ADXL345_SPI.cpp:44
double GetY() override
Common interface for getting the y axis acceleration.
Definition: ADXL345_SPI.cpp:55