Package edu.wpi.first.wpilibj

Class ADIS16448_IMU

java.lang.Object

edu.wpi.first.wpilibj.ADIS16448_IMU

All Implemented Interfaces:

NTSendable, Sendable, AutoCloseable

public class ADIS16448_IMU
extends Object
implements AutoCloseable, NTSendable

This class is for the ADIS16448 IMU that connects to the RoboRIO MXP port.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ADIS16448_IMU.CalibrationTime
static class	ADIS16448_IMU.IMUAxis

Constructor Summary

Constructors

Constructor	Description
ADIS16448_IMU()
ADIS16448_IMU(ADIS16448_IMU.IMUAxis yaw_axis, SPI.Port port, ADIS16448_IMU.CalibrationTime cal_time)

Method Summary

Modifier and Type	Method	Description
void	calibrate()	Calibrate the gyro.
void	close()	Delete (free) the spi port used for the IMU.
int	configCalTime(ADIS16448_IMU.CalibrationTime new_cal_time)	Configures calibration time
int	configDecRate(int m_decRate)
double	getAccelX()
double	getAccelY()
double	getAccelZ()
double	getAngle()
double	getBarometricPressure()
double	getGyroAngleX()
double	getGyroAngleY()
double	getGyroAngleZ()
double	getGyroRateX()
double	getGyroRateY()
double	getGyroRateZ()
double	getMagneticFieldX()
double	getMagneticFieldY()
double	getMagneticFieldZ()
int	getPort()	Get the SPI port number.
double	getRate()
double	getTemperature()
double	getXComplementaryAngle()
double	getXFilteredAccelAngle()
ADIS16448_IMU.IMUAxis	getYawAxis()
double	getYComplementaryAngle()
double	getYFilteredAccelAngle()
void	initSendable(NTSendableBuilder builder)	Initializes this Sendable object.
boolean	isConnected()
void	reset()
int	setYawAxis(ADIS16448_IMU.IMUAxis yaw_axis)	Sets the yaw axis
static int	toUShort(int... buf)

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

Constructor Details

ADIS16448_IMU

public ADIS16448_IMU()

ADIS16448_IMU

public ADIS16448_IMU(ADIS16448_IMU.IMUAxis yaw_axis, SPI.Port port, ADIS16448_IMU.CalibrationTime cal_time)

Parameters:

yaw_axis - The axis that measures the yaw

port - The SPI Port the gyro is plugged into

cal_time - Calibration time

Method Details

isConnected

public boolean isConnected()

toUShort

public static int toUShort(int... buf)

configDecRate

public int configDecRate(int m_decRate)

configCalTime

public int configCalTime(ADIS16448_IMU.CalibrationTime new_cal_time)

Configures calibration time

Parameters:

new_cal_time - New calibration time

Returns:

1 if the new calibration time is the same as the current one else 0

calibrate

public void calibrate()

Calibrate the gyro. It's important to make sure that the robot is not moving while the calibration is in progress, this is typically done when the robot is first turned on while it's sitting at rest before the match starts.

setYawAxis

public int setYawAxis(ADIS16448_IMU.IMUAxis yaw_axis)

Sets the yaw axis

Parameters:

yaw_axis - The new yaw axis to use

Returns:

1 if the new yaw axis is the same as the current one else 0.

reset

public void reset()

close

public void close()

Delete (free) the spi port used for the IMU.

Specified by:

close in interface AutoCloseable

getAngle

public double getAngle()

Returns:

Yaw axis angle in degrees (CCW positive)

getRate

public double getRate()

Returns:

Yaw axis angular rate in degrees per second (CCW positive)

getYawAxis

public ADIS16448_IMU.IMUAxis getYawAxis()

Returns:

Yaw Axis

getGyroAngleX

public double getGyroAngleX()

Returns:

accumulated gyro angle in the X axis in degrees

getGyroAngleY

public double getGyroAngleY()

Returns:

accumulated gyro angle in the Y axis in degrees

getGyroAngleZ

public double getGyroAngleZ()

Returns:

accumulated gyro angle in the Z axis in degrees

getGyroRateX

public double getGyroRateX()

Returns:

gyro angular rate in the X axis in degrees per second

getGyroRateY

public double getGyroRateY()

Returns:

gyro angular rate in the Y axis in degrees per second

getGyroRateZ

public double getGyroRateZ()

Returns:

gyro angular rate in the Z axis in degrees per second

getAccelX

public double getAccelX()

Returns:

urrent acceleration in the X axis in meters per second squared

getAccelY

public double getAccelY()

Returns:

current acceleration in the Y axis in meters per second squared

getAccelZ

public double getAccelZ()

Returns:

current acceleration in the Z axis in meters per second squared

getMagneticFieldX

public double getMagneticFieldX()

Returns:

Magnetic field strength in the X axis in Tesla

getMagneticFieldY

public double getMagneticFieldY()

Returns:

Magnetic field strength in the Y axis in Tesla

getMagneticFieldZ

public double getMagneticFieldZ()

Returns:

Magnetic field strength in the Z axis in Tesla

getXComplementaryAngle

public double getXComplementaryAngle()

Returns:

X-axis complementary angle in degrees

getYComplementaryAngle

public double getYComplementaryAngle()

Returns:

Y-axis complementary angle in degrees

getXFilteredAccelAngle

public double getXFilteredAccelAngle()

Returns:

X-axis filtered acceleration angle in degrees

getYFilteredAccelAngle

public double getYFilteredAccelAngle()

Returns:

Y-axis filtered acceleration angle in degrees

getBarometricPressure

public double getBarometricPressure()

Returns:

Barometric Pressure in PSI

getTemperature

public double getTemperature()

Returns:

Temperature in degrees Celsius

getPort

public int getPort()

Get the SPI port number.

Returns:

The SPI port number.

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