edu.wpi.first.wpilibj

Class AnalogAccelerometer

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.AnalogAccelerometer

All Implemented Interfaces:

PIDSource, Sendable

public class AnalogAccelerometer
extends SensorBase
implements PIDSource, Sendable

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.

Field Summary

Fields

Modifier and Type	Field and Description
protected PIDSourceType	m_pidSource

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

Method Summary

Modifier and Type	Method and Description
void	free() Delete the analog components used for the accelerometer.
double	getAcceleration() Return the acceleration in Gs.
PIDSourceType	getPIDSourceType() Get which parameter of the device you are using as a process control variable.
void	initSendable(SendableBuilder builder) Initializes this Sendable object.
double	pidGet() Get the Acceleration for the PID Source parent.
void	setPIDSourceType(PIDSourceType pidSource) Set which parameter of the device you are using as a process control variable.
void	setSensitivity(double sensitivity) Set the accelerometer sensitivity.
void	setZero(double zero) Set the voltage that corresponds to 0 G.

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_pidSource

protected PIDSourceType m_pidSource

Constructor Detail

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 Detail

free

public void free()

Delete the analog components used for the accelerometer.

Overrides:

free in class SendableBase

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.

setPIDSourceType

public void setPIDSourceType(PIDSourceType pidSource)

Description copied from interface: PIDSource

Set which parameter of the device you are using as a process control variable.

Specified by:

setPIDSourceType in interface PIDSource

Parameters:

pidSource - An enum to select the parameter.

getPIDSourceType

public PIDSourceType getPIDSourceType()

Description copied from interface: PIDSource

Get which parameter of the device you are using as a process control variable.

Specified by:

getPIDSourceType in interface PIDSource

Returns:

the currently selected PID source parameter

pidGet

public double pidGet()

Get the Acceleration for the PID Source parent.

Specified by:

pidGet in interface PIDSource

Returns:

The current acceleration 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