#include <frc/ADXL345_I2C.h>

Inheritance diagram for frc::ADXL345_I2C:

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 () override=default

	ADXL345_I2C (ADXL345_I2C &&)=default

ADXL345_I2C &	operator= (ADXL345_I2C &&)=default

I2C::Port	GetI2CPort () const

int	GetI2CDeviceAddress () const

void	SetRange (Range range) final
	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 (nt::NTSendableBuilder &builder) override
	Initializes this Sendable object. More...

Public Member Functions inherited from frc::Accelerometer
	Accelerometer ()=default

virtual	~Accelerometer ()=default

	Accelerometer (Accelerometer &&)=default

Accelerometer &	operator= (Accelerometer &&)=default

virtual void	SetRange (Range range)=0
	Common interface for setting the measuring range of an accelerometer. More...

virtual double	GetX ()=0
	Common interface for getting the x axis acceleration. More...

virtual double	GetY ()=0
	Common interface for getting the y axis acceleration. More...

virtual double	GetZ ()=0
	Common interface for getting the z axis acceleration. More...

Public Member Functions inherited from nt::NTSendable
virtual void	InitSendable (NTSendableBuilder &builder)=0
	Initializes this Sendable object. More...

void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default

virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::SendableHelper< ADXL345_I2C >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

SendableHelper &	operator= (const SendableHelper &rhs)=default

SendableHelper &	operator= (SendableHelper &&rhs)

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

hal::SimDevice	m_simDevice

hal::SimEnum	m_simRange

hal::SimDouble	m_simX

hal::SimDouble	m_simY

hal::SimDouble	m_simZ

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
Protected Member Functions inherited from wpi::SendableHelper< ADXL345_I2C >
	SendableHelper ()=default

	~SendableHelper ()

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).

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

Member Enumeration Documentation

◆ Axes

enum frc::ADXL345_I2C::Axes

Enumerator
kAxis_X
kAxis_Y
kAxis_Z

◆ DataFormatFields

enum frc::ADXL345_I2C::DataFormatFields

protected

Enumerator
kDataFormat_SelfTest
kDataFormat_SPI
kDataFormat_IntInvert
kDataFormat_FullRes
kDataFormat_Justify

◆ PowerCtlFields

enum frc::ADXL345_I2C::PowerCtlFields

protected

Enumerator
kPowerCtl_Link
kPowerCtl_AutoSleep
kPowerCtl_Measure
kPowerCtl_Sleep

Constructor & Destructor Documentation

◆ ADXL345_I2C() [1/2]

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

explicit

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	The I2C address of the accelerometer (0x1D or 0x53)

◆ ~ADXL345_I2C()

frc::ADXL345_I2C::~ADXL345_I2C ( )

overridedefault

◆ ADXL345_I2C() [2/2]

frc::ADXL345_I2C::ADXL345_I2C ( ADXL345_I2C && )

default

Member Function Documentation

◆ GetAcceleration()

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

virtual

Get the acceleration of one axis in Gs.

Parameters

axis	The axis to read from.

Returns: Acceleration of the ADXL345 in Gs.

◆ GetAccelerations()

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.

◆ GetI2CDeviceAddress()

int frc::ADXL345_I2C::GetI2CDeviceAddress ( ) const

◆ GetI2CPort()

I2C::Port frc::ADXL345_I2C::GetI2CPort ( ) const

◆ GetX()

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.

◆ GetY()

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.

◆ GetZ()

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.

◆ InitSendable()

void frc::ADXL345_I2C::InitSendable ( nt::NTSendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements nt::NTSendable.

◆ operator=()

ADXL345_I2C & frc::ADXL345_I2C::operator= ( ADXL345_I2C && )

default

◆ SetRange()

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

finalvirtual

Common interface for setting the measuring range of an accelerometer.

Parameters

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

Implements frc::Accelerometer.

Member Data Documentation

◆ kAddress

constexpr int frc::ADXL345_I2C::kAddress = 0x1D

staticconstexprprotected

◆ kDataFormatRegister

constexpr int frc::ADXL345_I2C::kDataFormatRegister = 0x31

staticconstexprprotected

◆ kDataRegister

constexpr int frc::ADXL345_I2C::kDataRegister = 0x32

staticconstexprprotected

◆ kGsPerLSB

constexpr double frc::ADXL345_I2C::kGsPerLSB = 0.00390625

staticconstexprprotected

◆ kPowerCtlRegister

constexpr int frc::ADXL345_I2C::kPowerCtlRegister = 0x2D

staticconstexprprotected

◆ m_i2c

I2C frc::ADXL345_I2C::m_i2c

protected

◆ m_simDevice

hal::SimDevice frc::ADXL345_I2C::m_simDevice

protected

◆ m_simRange

hal::SimEnum frc::ADXL345_I2C::m_simRange

protected

◆ m_simX

hal::SimDouble frc::ADXL345_I2C::m_simX

protected

◆ m_simY

hal::SimDouble frc::ADXL345_I2C::m_simY

protected

◆ m_simZ

hal::SimDouble frc::ADXL345_I2C::m_simZ

protected

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

frc/ADXL345_I2C.h

Classes

Public Types

Public Member Functions

Protected Types

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Axes

◆ DataFormatFields

◆ PowerCtlFields

Constructor & Destructor Documentation

◆ ADXL345_I2C() [1/2]

◆ ~ADXL345_I2C()

◆ ADXL345_I2C() [2/2]

Member Function Documentation

◆ GetAcceleration()

◆ GetAccelerations()

◆ GetI2CDeviceAddress()

◆ GetI2CPort()

◆ GetX()

◆ GetY()

◆ GetZ()

◆ InitSendable()

◆ operator=()

◆ SetRange()

Member Data Documentation

◆ kAddress

◆ kDataFormatRegister

◆ kDataRegister

◆ kGsPerLSB

◆ kPowerCtlRegister

◆ m_i2c

◆ m_simDevice

◆ m_simRange

◆ m_simX

◆ m_simY

◆ m_simZ