edu.wpi.first.wpilibj
Class ADXL345_SPI

java.lang.Object
  edu.wpi.first.wpilibj.SensorBase
      edu.wpi.first.wpilibj.ADXL345_SPI

public class ADXL345_SPI
extends SensorBase

Nested Class Summary

static class	ADXL345_SPI.AllAxes
static class	ADXL345_SPI.Axes
static class	ADXL345_SPI.DataFormat_Range

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogChannels, kAnalogModules, kDigitalChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond

Constructor Summary

ADXL345_SPI(DigitalOutput cs, ADXL345_SPI.DataFormat_Range range)
Constructor.

ADXL345_SPI(DigitalOutput clk, DigitalOutput mosi, DigitalInput miso, DigitalOutput cs, ADXL345_SPI.DataFormat_Range range)
Constructor.

ADXL345_SPI(int slot, int csChannel, ADXL345_SPI.DataFormat_Range range)
Constructor.

ADXL345_SPI(int slot, int clkChannel, int mosiChannel, int misoChannel, int csChannel, ADXL345_SPI.DataFormat_Range range)
Constructor.

Method Summary

void	free() Free the resources used by this object
double	getAcceleration(ADXL345_SPI.Axes axis) Get the acceleration of one axis in Gs.
ADXL345_SPI.AllAxes	getAccelerations() Get the acceleration of all axes in Gs.

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogChannel, checkAnalogModule, checkDigitalChannel, checkDigitalModule, checkPWMChannel, checkPWMModule, checkRelayChannel, checkRelayModule, checkSolenoidChannel, checkSolenoidModule, getDefaultAnalogModule, getDefaultDigitalModule, getDefaultSolenoidModule, setDefaultAnalogModule, setDefaultDigitalModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

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

Constructor Detail

ADXL345_SPI

public ADXL345_SPI(DigitalOutput clk,
                   DigitalOutput mosi,
                   DigitalInput miso,
                   DigitalOutput cs,
                   ADXL345_SPI.DataFormat_Range range)

Constructor. Use this when the device is the first/only device on the bus

Parameters:

clk - The clock channel

mosi - The mosi (output) channel

miso - The miso (input) channel

cs - The chip select channel

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

ADXL345_SPI

public ADXL345_SPI(int slot,
                   int clkChannel,
                   int mosiChannel,
                   int misoChannel,
                   int csChannel,
                   ADXL345_SPI.DataFormat_Range range)

Constructor. Use this when the device is the first/only device on the bus

Parameters:

slot - The module of the digital IO for the device

clkChannel - The channel number for the clk channel

mosiChannel - The channel number for the mosi (output) channel

misoChannel - The channel number for the miso (input) channel

csChannel - The channel number for the chip select channel

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

ADXL345_SPI

public ADXL345_SPI(DigitalOutput cs,
                   ADXL345_SPI.DataFormat_Range range)

Constructor. Use this constructor only if another SPI device has already been constructed with the clk, mosi and miso pins defined.

Parameters:

cs - the chip select line for the SPI bus

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

ADXL345_SPI

public ADXL345_SPI(int slot,
                   int csChannel,
                   ADXL345_SPI.DataFormat_Range range)

Constructor. Use this constructor only if another SPI device has already been constructed with the clk, mosi and miso pins defined.

Parameters:

slot - The module of the digital output for the device's chip select pin

csChannel - The channel for the digital output for the device's chip select pin

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

Method Detail

free

public void free()

Description copied from class: SensorBase

Free the resources used by this object

Overrides:

free in class SensorBase

getAcceleration

public double getAcceleration(ADXL345_SPI.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_SPI.AllAxes getAccelerations()

Get the acceleration of all axes in Gs.

Returns:

Acceleration measured on all axes of the ADXL345 in Gs.