Use DMA SPI to read rate and acceleration data from the ADIS16470 IMU and return the robot's heading relative to a starting position and instant measurements. More...

#include <frc/ADIS16470_IMU.h>

Inheritance diagram for frc::ADIS16470_IMU:

Public Types
enum class	CalibrationTime { _32ms = 0 , _64ms = 1 , _128ms = 2 , _256ms = 3 , _512ms = 4 , _1s = 5 , _2s = 6 , _4s = 7 , _8s = 8 , _16s = 9 , _32s = 10 , _64s = 11 }

enum	IMUAxis { kX , kY , kZ }

Public Member Functions
	ADIS16470_IMU ()
	Default constructor. More...

	ADIS16470_IMU (IMUAxis yaw_axis, SPI::Port port, CalibrationTime cal_time)
	Customizable constructor. More...

	~ADIS16470_IMU () override
	Destructor. More...

	ADIS16470_IMU (ADIS16470_IMU &&)=default

ADIS16470_IMU &	operator= (ADIS16470_IMU &&)=default

int	ConfigDecRate (uint16_t reg)

void	Calibrate ()
	Switches the active SPI port to standard SPI mode, writes the command to activate the new null configuration, and re-enables auto SPI. More...

int	ConfigCalTime (CalibrationTime new_cal_time)
	Switches the active SPI port to standard SPI mode, writes a new value to the NULL_CNFG register in the IMU, and re-enables auto SPI. More...

void	Reset ()
	Resets (zeros) the xgyro, ygyro, and zgyro angle integrations. More...

units::degree_t	GetAngle () const
	Returns the yaw axis angle in degrees (CCW positive). More...

units::degrees_per_second_t	GetRate () const
	Returns the yaw axis angular rate in degrees per second (CCW positive). More...

units::meters_per_second_squared_t	GetAccelX () const
	Returns the acceleration in the X axis. More...

units::meters_per_second_squared_t	GetAccelY () const
	Returns the acceleration in the Y axis. More...

units::meters_per_second_squared_t	GetAccelZ () const
	Returns the acceleration in the Z axis. More...

units::degree_t	GetXComplementaryAngle () const

units::degree_t	GetYComplementaryAngle () const

units::degree_t	GetXFilteredAccelAngle () const

units::degree_t	GetYFilteredAccelAngle () const

IMUAxis	GetYawAxis () const

int	SetYawAxis (IMUAxis yaw_axis)

bool	IsConnected () const

int	GetPort () const
	Get the SPI port number. More...

void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default

virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::SendableHelper< ADIS16470_IMU >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

SendableHelper &	operator= (const SendableHelper &rhs)=default

SendableHelper &	operator= (SendableHelper &&rhs)

Public Attributes
IMUAxis	m_yaw_axis

Additional Inherited Members
Protected Member Functions inherited from wpi::SendableHelper< ADIS16470_IMU >
	SendableHelper ()=default

	~SendableHelper ()

Detailed Description

Use DMA SPI to read rate and acceleration data from the ADIS16470 IMU and return the robot's heading relative to a starting position and instant measurements.

The ADIS16470 gyro angle outputs track the robot's heading based on the starting position. As the robot rotates the new heading is computed by integrating the rate of rotation returned by the IMU. When the class is instantiated, a short calibration routine is performed where the IMU samples the gyros while at rest to determine the initial offset. This is subtracted from each sample to determine the heading.

This class is for the ADIS16470 IMU connected via the primary SPI port available on the RoboRIO.

Member Enumeration Documentation

◆ CalibrationTime

enum class frc::ADIS16470_IMU::CalibrationTime

strong

Enumerator
_32ms
_64ms
_128ms
_256ms
_512ms
_1s
_2s
_4s
_8s
_16s
_32s
_64s

◆ IMUAxis

enum frc::ADIS16470_IMU::IMUAxis

Enumerator
kX
kY
kZ

Constructor & Destructor Documentation

◆ ADIS16470_IMU() [1/3]

frc::ADIS16470_IMU::ADIS16470_IMU ( )

Default constructor.

Uses CS0 on the 10-pin SPI port, the yaw axis is set to the IMU Z axis, and calibration time is defaulted to 4 seconds.

◆ ADIS16470_IMU() [2/3]

frc::ADIS16470_IMU::ADIS16470_IMU	(	IMUAxis	yaw_axis,
		SPI::Port	port,
		CalibrationTime	cal_time
	)

explicit

Customizable constructor.

Allows the SPI port and CS to be customized, the yaw axis used for GetAngle() is adjustable, and initial calibration time can be modified.

Parameters

yaw_axis	Selects the "default" axis to use for GetAngle() and GetRate()
port	The SPI port and CS where the IMU is connected.
cal_time	The calibration time that should be used on start-up.

◆ ~ADIS16470_IMU()

frc::ADIS16470_IMU::~ADIS16470_IMU ( )

override

Destructor.

Kills the acquisition loop and closes the SPI peripheral.

◆ ADIS16470_IMU() [3/3]

frc::ADIS16470_IMU::ADIS16470_IMU ( ADIS16470_IMU && )

default

Member Function Documentation

◆ Calibrate()

void frc::ADIS16470_IMU::Calibrate ( )

Switches the active SPI port to standard SPI mode, writes the command to activate the new null configuration, and re-enables auto SPI.

◆ ConfigCalTime()

int frc::ADIS16470_IMU::ConfigCalTime ( CalibrationTime new_cal_time )

Switches the active SPI port to standard SPI mode, writes a new value to the NULL_CNFG register in the IMU, and re-enables auto SPI.

◆ ConfigDecRate()

int frc::ADIS16470_IMU::ConfigDecRate ( uint16_t reg )

◆ GetAccelX()

units::meters_per_second_squared_t frc::ADIS16470_IMU::GetAccelX ( ) const

Returns the acceleration in the X axis.

◆ GetAccelY()

units::meters_per_second_squared_t frc::ADIS16470_IMU::GetAccelY ( ) const

Returns the acceleration in the Y axis.

◆ GetAccelZ()

units::meters_per_second_squared_t frc::ADIS16470_IMU::GetAccelZ ( ) const

Returns the acceleration in the Z axis.

◆ GetAngle()

units::degree_t frc::ADIS16470_IMU::GetAngle ( ) const

Returns the yaw axis angle in degrees (CCW positive).

◆ GetPort()

int frc::ADIS16470_IMU::GetPort ( ) const

Get the SPI port number.

Returns: The SPI port number.

◆ GetRate()

units::degrees_per_second_t frc::ADIS16470_IMU::GetRate ( ) const

Returns the yaw axis angular rate in degrees per second (CCW positive).

◆ GetXComplementaryAngle()

units::degree_t frc::ADIS16470_IMU::GetXComplementaryAngle ( ) const

◆ GetXFilteredAccelAngle()

units::degree_t frc::ADIS16470_IMU::GetXFilteredAccelAngle ( ) const

◆ GetYawAxis()

IMUAxis frc::ADIS16470_IMU::GetYawAxis ( ) const

◆ GetYComplementaryAngle()

units::degree_t frc::ADIS16470_IMU::GetYComplementaryAngle ( ) const

◆ GetYFilteredAccelAngle()

units::degree_t frc::ADIS16470_IMU::GetYFilteredAccelAngle ( ) const

◆ InitSendable()

void frc::ADIS16470_IMU::InitSendable ( wpi::SendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements wpi::Sendable.

◆ IsConnected()

bool frc::ADIS16470_IMU::IsConnected ( ) const

◆ operator=()

ADIS16470_IMU & frc::ADIS16470_IMU::operator= ( ADIS16470_IMU && )

default

◆ Reset()

void frc::ADIS16470_IMU::Reset ( )

Resets (zeros) the xgyro, ygyro, and zgyro angle integrations.

Resets the gyro accumulations to a heading of zero. This can be used if the "zero" orientation of the sensor needs to be changed in runtime.

◆ SetYawAxis()

int frc::ADIS16470_IMU::SetYawAxis ( IMUAxis yaw_axis )

Member Data Documentation

◆ m_yaw_axis

IMUAxis frc::ADIS16470_IMU::m_yaw_axis

The documentation for this class was generated from the following file:

frc/ADIS16470_IMU.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members