Package edu.wpi.first.wpilibj

Class AnalogAccelerometer

java.lang.Object

edu.wpi.first.wpilibj.AnalogAccelerometer

All Implemented Interfaces:

Sendable, AutoCloseable

Direct Known Subclasses:

PIDAnalogAccelerometer

public class AnalogAccelerometer
extends Object
implements 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.

Constructor Summary

Constructors

Constructor	Description
AnalogAccelerometer(int channel)	Create a new instance of an accelerometer.
AnalogAccelerometer(AnalogInput channel)	Create a new instance of Accelerometer from an existing AnalogChannel.

Method Summary

Modifier and Type	Method	Description
void	close()	Delete the analog components used for the accelerometer.
double	getAcceleration()	Return the acceleration in Gs.
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.
void	setSensitivity(double sensitivity)	Set the accelerometer sensitivity.
void	setZero(double zero)	Set the voltage that corresponds to 0 G.

Methods inherited from class java.lang.Object

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

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.

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