edu.wpi.first.wpilibj

Class ADXL345_I2C

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.ADXL345_I2C

All Implemented Interfaces:

Accelerometer, Sendable

public class ADXL345_I2C
extends SensorBase
implements Accelerometer, Sendable

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
void	free() Free the resources used by this object.
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.
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	initSendable(SendableBuilder builder) Initializes this Sendable object.
void	setRange(Accelerometer.Range range) Common interface for setting the measuring range of an accelerometer.

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

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

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

addChild, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

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

free

public void free()

Description copied from class: SendableBase

Free the resources used by this object.

Overrides:

free in class SendableBase

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.

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