Package edu.wpi.first.wpilibj

Class ADXL345_I2C

java.lang.Object

edu.wpi.first.wpilibj.ADXL345_I2C

All Implemented Interfaces:

NTSendable, Sendable, Accelerometer, AutoCloseable

public class ADXL345_I2C
extends Object
implements Accelerometer, NTSendable, AutoCloseable

ADXL345 I2C Accelerometer.

The Onboard I2C port is subject to system lockups. See WPILib Known Issues page for details.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ADXL345_I2C.AllAxes
static class	ADXL345_I2C.Axes

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj.interfaces.Accelerometer

Accelerometer.Range

Field Summary

Fields

Modifier and Type	Field	Description
protected I2C	m_i2c
protected SimDevice	m_simDevice
protected SimEnum	m_simRange
protected SimDouble	m_simX
protected SimDouble	m_simY
protected SimDouble	m_simZ

Constructor Summary

Constructors

Constructor	Description
ADXL345_I2C(I2C.Port port, Accelerometer.Range range)	Constructs the ADXL345 Accelerometer with I2C address 0x1D.
ADXL345_I2C(I2C.Port port, Accelerometer.Range range, int deviceAddress)	Constructs the ADXL345 Accelerometer over I2C.

Method Summary

Modifier and Type	Method	Description
void	close()
double	getAcceleration(ADXL345_I2C.Axes axis)	Get the acceleration of one axis in Gs.
ADXL345_I2C.AllAxes	getAccelerations()	Get the acceleration of all axes in Gs.
int	getDeviceAddress()
int	getPort()
double	getX()	Common interface for getting the x axis acceleration.
double	getY()	Common interface for getting the y axis acceleration.
double	getZ()	Common interface for getting the z axis acceleration.
void	initSendable(NTSendableBuilder builder)	Initializes this Sendable object.
void	setRange(Accelerometer.Range range)	Common interface for setting the measuring range of an accelerometer.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.networktables.NTSendable

initSendable

Field Details

m_i2c

protected I2C m_i2c

m_simDevice

protected SimDevice m_simDevice

m_simRange

protected SimEnum m_simRange

m_simX

protected SimDouble m_simX

m_simY

protected SimDouble m_simY

m_simZ

protected SimDouble m_simZ

Constructor Details

ADXL345_I2C

public ADXL345_I2C(I2C.Port port, Accelerometer.Range range)

Constructs the ADXL345 Accelerometer with I2C address 0x1D.

Parameters:

port - The I2C port the accelerometer is attached to

range - The range (+ or -) that the accelerometer will measure.

ADXL345_I2C

public ADXL345_I2C(I2C.Port port, Accelerometer.Range range, int deviceAddress)

Constructs the ADXL345 Accelerometer over I2C.

Parameters:

port - The I2C port the accelerometer is attached to

range - The range (+ or -) that the accelerometer will measure.

deviceAddress - I2C address of the accelerometer (0x1D or 0x53)

Method Details

getPort

public int getPort()

getDeviceAddress

public int getDeviceAddress()

close

public void close()

Specified by:

close in interface AutoCloseable

setRange

public void setRange(Accelerometer.Range range)

Description copied from interface: Accelerometer

Common interface for setting the measuring range of an accelerometer.

Specified by:

setRange in interface Accelerometer

Parameters:

range - The maximum acceleration, positive or negative, that the accelerometer will measure. Not all accelerometers support all ranges.

getX

public double getX()

Description copied from interface: Accelerometer

Common interface for getting the x axis acceleration.

Specified by:

getX in interface Accelerometer

Returns:

The acceleration along the x axis in g-forces

getY

public double getY()

Description copied from interface: Accelerometer

Common interface for getting the y axis acceleration.

Specified by:

getY in interface Accelerometer

Returns:

The acceleration along the y axis in g-forces

getZ

public double getZ()

Description copied from interface: Accelerometer

Common interface for getting the z axis acceleration.

Specified by:

getZ in interface Accelerometer

Returns:

The acceleration along the z axis in g-forces

getAcceleration

public double getAcceleration(ADXL345_I2C.Axes axis)

Get the acceleration of one axis in Gs.

Parameters:

axis - The axis to read from.

Returns:

Acceleration of the ADXL345 in Gs.

getAccelerations

public ADXL345_I2C.AllAxes getAccelerations()

Get the acceleration of all axes in Gs.

Returns:

An object containing the acceleration measured on each axis of the ADXL345 in Gs.

initSendable

public void initSendable(NTSendableBuilder builder)

Description copied from interface: NTSendable

Initializes this Sendable object.

Specified by:

initSendable in interface NTSendable

Parameters:

builder - sendable builder