Package edu.wpi.first.wpilibj

Class ADIS16470_IMU

java.lang.Object

edu.wpi.first.wpilibj.ADIS16470_IMU

All Implemented Interfaces:

NTSendable, Sendable, AutoCloseable

public class ADIS16470_IMU
extends Object
implements AutoCloseable, NTSendable

This class is for the ADIS16470 IMU that connects to the RoboRIO SPI port.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ADIS16470_IMU.CalibrationTime
static class	ADIS16470_IMU.IMUAxis

Constructor Summary

Constructors

Constructor	Description
ADIS16470_IMU()
ADIS16470_IMU(ADIS16470_IMU.IMUAxis yaw_axis, SPI.Port port, ADIS16470_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(ADIS16470_IMU.CalibrationTime new_cal_time)	Configures calibration time
int	configDecRate(int reg)
double	getAccelX()
double	getAccelY()
double	getAccelZ()
double	getAngle()
int	getPort()	Get the SPI port number.
double	getRate()
double	getXComplementaryAngle()
double	getXFilteredAccelAngle()
ADIS16470_IMU.IMUAxis	getYawAxis()
double	getYComplementaryAngle()
double	getYFilteredAccelAngle()
void	initSendable(NTSendableBuilder builder)	Initializes this Sendable object.
boolean	isConnected()
void	reset()
int	setYawAxis(ADIS16470_IMU.IMUAxis yaw_axis)	Sets the yaw axis

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

ADIS16470_IMU

public ADIS16470_IMU()

ADIS16470_IMU

public ADIS16470_IMU(ADIS16470_IMU.IMUAxis yaw_axis, SPI.Port port, ADIS16470_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()

configCalTime

public int configCalTime(ADIS16470_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

configDecRate

public int configDecRate(int reg)

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(ADIS16470_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, 2 if the switch to Standard SPI failed, 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 ADIS16470_IMU.IMUAxis getYawAxis()

Returns:

Yaw Axis

getAccelX

public double getAccelX()

Returns:

current acceleration in the X axis

getAccelY

public double getAccelY()

Returns:

current acceleration in the Y axis

getAccelZ

public double getAccelZ()

Returns:

current acceleration in the Z axis

getXComplementaryAngle

public double getXComplementaryAngle()

Returns:

X-axis complementary angle

getYComplementaryAngle

public double getYComplementaryAngle()

Returns:

Y-axis complementary angle

getXFilteredAccelAngle

public double getXFilteredAccelAngle()

Returns:

X-axis filtered acceleration angle

getYFilteredAccelAngle

public double getYFilteredAccelAngle()

Returns:

Y-axis filtered acceleration angle

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