edu.wpi.first.wpilibj

Class ADXL345_I2C

java.lang.Object

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.ADXL345_I2C

All Implemented Interfaces:

Accelerometer, LiveWindowSendable, Sendable

public class ADXL345_I2C
extends SensorBase
implements Accelerometer, LiveWindowSendable

ADXL345 I2C Accelerometer.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ADXL345_I2C.AllAxes
static class	ADXL345_I2C.Axes

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj.interfaces.Accelerometer

Accelerometer.Range

Field Summary

Fields

Modifier and Type	Field and Description
protected I2C	m_i2c

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

kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPCMModules, kPDPChannels, kPDPModules, kPwmChannels, kRelayChannels, kSolenoidChannels, kSystemClockTicksPerMicrosecond

Constructor Summary

Constructors

Constructor and Description
ADXL345_I2C(I2C.Port port, Accelerometer.Range range) Constructs the ADXL345 Accelerometer with I2C address 0x1D.
ADXL345_I2C(I2C.Port port, Accelerometer.Range range, int deviceAddress) Constructs the ADXL345 Accelerometer over I2C.

Method Summary

Modifier and Type	Method and Description
double	getAcceleration(ADXL345_I2C.Axes axis) Get the acceleration of one axis in Gs.
ADXL345_I2C.AllAxes	getAccelerations() Get the acceleration of all axes in Gs.
java.lang.String	getSmartDashboardType() The string representation of the named data type that will be used by the smart dashboard for this Sendable.
ITable	getTable() The table that is associated with this Sendable.
double	getX() Common interface for getting the x axis acceleration.
double	getY() Common interface for getting the y axis acceleration.
double	getZ() Common interface for getting the z axis acceleration.
void	initTable(ITable subtable) Initializes a table for this Sendable object.
void	setRange(Accelerometer.Range range) Common interface for setting the measuring range of an accelerometer.
void	startLiveWindowMode() Start having this sendable object automatically respond to value changes reflect the value on the table.
void	stopLiveWindowMode() Stop having this sendable object automatically respond to value changes.
void	updateTable() Update the table for this sendable object with the latest values.

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

checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPDPModule, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, free, getDefaultSolenoidModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

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

Field Detail

m_i2c

protected I2C m_i2c

Constructor Detail

ADXL345_I2C

public ADXL345_I2C(I2C.Port port,
                   Accelerometer.Range range)

Constructs the ADXL345 Accelerometer with I2C address 0x1D.

Parameters:

port - The I2C port the accelerometer is attached to

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

ADXL345_I2C

public ADXL345_I2C(I2C.Port port,
                   Accelerometer.Range range,
                   int deviceAddress)

Constructs the ADXL345 Accelerometer over I2C.

Parameters:

port - The I2C port the accelerometer is attached to

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

deviceAddress - I2C address of the accelerometer (0x1D or 0x53)

Method Detail

setRange

public void setRange(Accelerometer.Range range)

Description copied from interface: Accelerometer

Common interface for setting the measuring range of an accelerometer.

Specified by:

setRange in interface Accelerometer

Parameters:

range - The maximum acceleration, positive or negative, that the accelerometer will measure. Not all accelerometers support all ranges.

getX

public double getX()

Description copied from interface: Accelerometer

Common interface for getting the x axis acceleration.

Specified by:

getX in interface Accelerometer

Returns:

The acceleration along the x axis in g-forces

getY

public double getY()

Description copied from interface: Accelerometer

Common interface for getting the y axis acceleration.

Specified by:

getY in interface Accelerometer

Returns:

The acceleration along the y axis in g-forces

getZ

public double getZ()

Description copied from interface: Accelerometer

Common interface for getting the z axis acceleration.

Specified by:

getZ in interface Accelerometer

Returns:

The acceleration along the z axis in g-forces

getAcceleration

public double getAcceleration(ADXL345_I2C.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_I2C.AllAxes getAccelerations()

Get the acceleration of all axes in Gs.

Returns:

An object containing the acceleration measured on each axis of the ADXL345 in Gs.

getSmartDashboardType

public java.lang.String getSmartDashboardType()

Description copied from interface: Sendable

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

Specified by:

getSmartDashboardType in interface Sendable

Returns:

The type of this Sendable.

initTable

public void initTable(ITable subtable)

Description copied from interface: Sendable

Initializes a table for this Sendable object.

Specified by:

initTable in interface Sendable

Parameters:

subtable - The table to put the values in.

updateTable

public void updateTable()

Description copied from interface: LiveWindowSendable

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

Specified by:

updateTable in interface LiveWindowSendable

getTable

public ITable getTable()

Description copied from interface: Sendable

The table that is associated with this Sendable.

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the Sendable.

startLiveWindowMode

public void startLiveWindowMode()

Description copied from interface: LiveWindowSendable

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()

Description copied from interface: LiveWindowSendable

Stop having this sendable object automatically respond to value changes.

Specified by:

stopLiveWindowMode in interface LiveWindowSendable