edu.wpi.first.wpilibj
Class Accelerometer

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

All Implemented Interfaces:

LiveWindowSendable, IDevice, ISensor, PIDSource, Sendable

public class Accelerometer
extends SensorBase
implements PIDSource, ISensor, LiveWindowSendable

Handle operation of the 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 Summary

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

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

Constructor Summary

Accelerometer(AnalogChannel channel)
Create a new instance of Accelerometer from an existing AnalogChannel.

Accelerometer(int channel)
Create a new instance of an accelerometer.

Accelerometer(int slot, int channel)
Create new instance of accelerometer.

Method Summary

void	free() Delete the analog components used for the accelerometer.
double	getAcceleration() Return the acceleration in Gs.
String	getSmartDashboardType()
ITable	getTable()
void	initTable(ITable subtable) Initializes a table for this sendable object.
double	pidGet() Get the Acceleration for the PID Source parent.
void	setSensitivity(double sensitivity) Set the accelerometer sensitivity.
void	setZero(double zero) Set the voltage that corresponds to 0 G.
void	startLiveWindowMode() Analog Channels don't have to do anything special when entering the LiveWindow.
void	stopLiveWindowMode() Analog Channels don't have to do anything special when exiting the LiveWindow.
void	updateTable() Update the table for this sendable object with the latest values.

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

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

Constructor Detail

Accelerometer

public Accelerometer(int channel)

Create a new instance of an accelerometer. The accelerometer is assumed to be in the first analog module in the given analog channel. The constructor allocates desired analog channel.

Parameters:

channel - the port that the accelerometer is on on the default module

Accelerometer

public Accelerometer(int slot,
                     int channel)

Create new instance of accelerometer. Make a new instance of the accelerometer given a module and channel. The constructor allocates the desired analog channel from the specified module

Parameters:

slot - the slot that the module is in

channel - the port that the Accelerometer is on on the module

Accelerometer

public Accelerometer(AnalogChannel 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 - an already initialized analog channel

Method Detail

free

public void free()

Delete the analog components used for the accelerometer.

Overrides:

free in class SensorBase

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 varys 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 varys by accelerometer model. There are constants defined for various models.

Parameters:

zero - The zero G voltage.

pidGet

public double pidGet()

Get the Acceleration for the PID Source parent.

Specified by:

pidGet in interface PIDSource

Returns:

The current acceleration in Gs.

getSmartDashboardType

public String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

Returns:

the string representation of the named data type that will be used by the smart dashboard for this sendable

initTable

public void initTable(ITable subtable)

Initializes a table for this sendable object.

Specified by:

initTable in interface Sendable

Parameters:

subtable - The table to put the values in.

getTable

public ITable getTable()

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the sendable

updateTable

public void updateTable()

Update the table for this sendable object with the latest values.

Specified by:

updateTable in interface LiveWindowSendable

startLiveWindowMode

public void startLiveWindowMode()

Analog Channels don't have to do anything special when entering the LiveWindow. Start having this sendable object automatically respond to value changes reflect the value on the table.

Specified by:

startLiveWindowMode in interface LiveWindowSendable

stopLiveWindowMode

public void stopLiveWindowMode()

Analog Channels don't have to do anything special when exiting the LiveWindow. Stop having this sendable object automatically respond to value changes.

Specified by:

stopLiveWindowMode in interface LiveWindowSendable