Class AnalogAccelerometer

java.lang.Object
edu.wpi.first.wpilibj.AnalogAccelerometer
All Implemented Interfaces:
PIDSource, Sendable, AutoCloseable

public class AnalogAccelerometer
extends Object
implements PIDSource, Sendable, AutoCloseable
Handle operation of an analog accelerometer. The accelerometer reads acceleration directly through the sensor. Many sensors have multiple axis and can be treated as multiple devices. Each is calibrated by finding the center value over a period of time.
  • Field Details

  • Constructor Details

    • AnalogAccelerometer

      public AnalogAccelerometer​(int channel)
      Create a new instance of an accelerometer.

      The constructor allocates desired analog channel.

      Parameters:
      channel - The channel number for the analog input the accelerometer is connected to
    • AnalogAccelerometer

      public AnalogAccelerometer​(AnalogInput channel)
      Create a new instance of Accelerometer from an existing AnalogChannel. Make a new instance of accelerometer given an AnalogChannel. This is particularly useful if the port is going to be read as an analog channel as well as through the Accelerometer class.
      Parameters:
      channel - The existing AnalogInput object for the analog input the accelerometer is connected to
  • Method Details

    • close

      public void close()
      Delete the analog components used for the accelerometer.
      Specified by:
      close in interface AutoCloseable
    • getAcceleration

      public double getAcceleration()
      Return the acceleration in Gs.

      The acceleration is returned units of Gs.

      Returns:
      The current acceleration of the sensor in Gs.
    • setSensitivity

      public void setSensitivity​(double sensitivity)
      Set the accelerometer sensitivity.

      This sets the sensitivity of the accelerometer used for calculating the acceleration. The sensitivity varies by accelerometer model. There are constants defined for various models.

      Parameters:
      sensitivity - The sensitivity of accelerometer in Volts per G.
    • setZero

      public void setZero​(double zero)
      Set the voltage that corresponds to 0 G.

      The zero G voltage varies by accelerometer model. There are constants defined for various models.

      Parameters:
      zero - The zero G voltage.
    • setPIDSourceType

      public void setPIDSourceType​(PIDSourceType pidSource)
      Description copied from interface: PIDSource
      Set which parameter of the device you are using as a process control variable.
      Specified by:
      setPIDSourceType in interface PIDSource
      Parameters:
      pidSource - An enum to select the parameter.
    • getPIDSourceType

      public PIDSourceType getPIDSourceType()
      Description copied from interface: PIDSource
      Get which parameter of the device you are using as a process control variable.
      Specified by:
      getPIDSourceType in interface PIDSource
      Returns:
      the currently selected PID source parameter
    • pidGet

      public double pidGet()
      Get the Acceleration for the PID Source parent.
      Specified by:
      pidGet in interface PIDSource
      Returns:
      The current acceleration in Gs.
    • initSendable

      public void initSendable​(SendableBuilder builder)
      Description copied from interface: Sendable
      Initializes this Sendable object.
      Specified by:
      initSendable in interface Sendable
      Parameters:
      builder - sendable builder