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frc::ADXL345_I2C Class Reference

ADXL345 Accelerometer on I2C. More...

#include <ADXL345_I2C.h>

Inheritance diagram for frc::ADXL345_I2C:
frc::ErrorBase frc::SendableBase frc::Accelerometer frc::Sendable

Classes

struct  AllAxes
 

Public Types

enum  Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 }
 
- Public Types inherited from frc::Accelerometer
enum  Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 }
 

Public Member Functions

 ADXL345_I2C (I2C::Port port, Range range=kRange_2G, int deviceAddress=kAddress)
 Constructs the ADXL345 Accelerometer over I2C. More...
 
 ADXL345_I2C (ADXL345_I2C &&)=default
 
ADXL345_I2Coperator= (ADXL345_I2C &&)=default
 
void SetRange (Range range) override
 Common interface for setting the measuring range of an accelerometer. More...
 
double GetX () override
 Common interface for getting the x axis acceleration. More...
 
double GetY () override
 Common interface for getting the y axis acceleration. More...
 
double GetZ () override
 Common interface for getting the z axis acceleration. More...
 
virtual double GetAcceleration (Axes axis)
 Get the acceleration of one axis in Gs. More...
 
virtual AllAxes GetAccelerations ()
 Get the acceleration of all axes in Gs. More...
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
- Public Member Functions inherited from frc::SendableBase
 SendableBase (bool addLiveWindow=true)
 Creates an instance of the sensor base. More...
 
 SendableBase (SendableBase &&rhs)
 
SendableBaseoperator= (SendableBase &&rhs)
 
std::string GetName () const final
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name) final
 Sets the name of this Sendable object. More...
 
std::string GetSubsystem () const final
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem) final
 Sets the subsystem name of this Sendable object. More...
 
- Public Member Functions inherited from frc::Sendable
 Sendable (Sendable &&)=default
 
Sendableoperator= (Sendable &&)=default
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
- Public Member Functions inherited from frc::Accelerometer
 Accelerometer (Accelerometer &&)=default
 
Accelerometeroperator= (Accelerometer &&)=default
 

Protected Types

enum  PowerCtlFields { kPowerCtl_Link = 0x20, kPowerCtl_AutoSleep = 0x10, kPowerCtl_Measure = 0x08, kPowerCtl_Sleep = 0x04 }
 
enum  DataFormatFields {
  kDataFormat_SelfTest = 0x80, kDataFormat_SPI = 0x40, kDataFormat_IntInvert = 0x20, kDataFormat_FullRes = 0x08,
  kDataFormat_Justify = 0x04
}
 

Protected Attributes

I2C m_i2c
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Static Protected Attributes

static constexpr int kAddress = 0x1D
 
static constexpr int kPowerCtlRegister = 0x2D
 
static constexpr int kDataFormatRegister = 0x31
 
static constexpr int kDataRegister = 0x32
 
static constexpr double kGsPerLSB = 0.00390625
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static const ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Member Functions inherited from frc::SendableBase
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 

Detailed Description

ADXL345 Accelerometer on I2C.

This class allows access to a Analog Devices ADXL345 3-axis accelerometer on an I2C bus. This class assumes the default (not alternate) sensor address of 0x1D (7-bit address).

Constructor & Destructor Documentation

frc::ADXL345_I2C::ADXL345_I2C ( I2C::Port  port,
Range  range = kRange_2G,
int  deviceAddress = kAddress 
)
explicit

Constructs the ADXL345 Accelerometer over I2C.

Parameters
portThe I2C port the accelerometer is attached to
rangeThe range (+ or -) that the accelerometer will measure
deviceAddressThe I2C address of the accelerometer (0x1D or 0x53)

Member Function Documentation

virtual double frc::ADXL345_I2C::GetAcceleration ( Axes  axis)
virtual

Get the acceleration of one axis in Gs.

Parameters
axisThe axis to read from.
Returns
Acceleration of the ADXL345 in Gs.
virtual AllAxes frc::ADXL345_I2C::GetAccelerations ( )
virtual

Get the acceleration of all axes in Gs.

Returns
An object containing the acceleration measured on each axis of the ADXL345 in Gs.
double frc::ADXL345_I2C::GetX ( )
overridevirtual

Common interface for getting the x axis acceleration.

Returns
The acceleration along the x axis in g-forces

Implements frc::Accelerometer.

double frc::ADXL345_I2C::GetY ( )
overridevirtual

Common interface for getting the y axis acceleration.

Returns
The acceleration along the y axis in g-forces

Implements frc::Accelerometer.

double frc::ADXL345_I2C::GetZ ( )
overridevirtual

Common interface for getting the z axis acceleration.

Returns
The acceleration along the z axis in g-forces

Implements frc::Accelerometer.

void frc::ADXL345_I2C::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

void frc::ADXL345_I2C::SetRange ( Range  range)
overridevirtual

Common interface for setting the measuring range of an accelerometer.

Parameters
rangeThe maximum acceleration, positive or negative, that the accelerometer will measure. Not all accelerometers support all ranges.

Implements frc::Accelerometer.


The documentation for this class was generated from the following file: