#include <frc/ADXL345_I2C.h>

Inheritance diagram for frc::ADXL345_I2C:

Classes
struct	AllAxes

Public Types
enum	Range { kRange_2G = 0 , kRange_4G = 1 , kRange_8G = 2 , kRange_16G = 3 }

enum	Axes { kAxis_X = 0x00 , kAxis_Y = 0x02 , kAxis_Z = 0x04 }

Public Member Functions
	ADXL345_I2C (I2C::Port port, Range range=kRange_2G, int deviceAddress=kAddress)
	Constructs the ADXL345 Accelerometer over I2C. More...

	~ADXL345_I2C () override=default

	ADXL345_I2C (ADXL345_I2C &&)=default

ADXL345_I2C &	operator= (ADXL345_I2C &&)=default

I2C::Port	GetI2CPort () const

int	GetI2CDeviceAddress () const

void	SetRange (Range range)
	Set the measuring range of the accelerometer. More...

double	GetX ()
	Returns the acceleration along the X axis in g-forces. More...

double	GetY ()
	Returns the acceleration along the Y axis in g-forces. More...

double	GetZ ()
	Returns the acceleration along the Z axis in g-forces. More...

virtual double	GetAcceleration (Axes axis)
	Get the acceleration of one axis in Gs. More...

virtual AllAxes	GetAccelerations ()
	Get the acceleration of all axes in Gs. More...

void	InitSendable (nt::NTSendableBuilder &builder) override
	Initializes this Sendable object. More...

Public Member Functions inherited from nt::NTSendable
virtual void	InitSendable (NTSendableBuilder &builder)=0
	Initializes this Sendable object. 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< ADXL345_I2C >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

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

SendableHelper &	operator= (SendableHelper &&rhs)

Protected Types
enum	PowerCtlFields { kPowerCtl_Link = 0x20 , kPowerCtl_AutoSleep = 0x10 , kPowerCtl_Measure = 0x08 , kPowerCtl_Sleep = 0x04 }

enum	DataFormatFields { kDataFormat_SelfTest = 0x80 , kDataFormat_SPI = 0x40 , kDataFormat_IntInvert = 0x20 , kDataFormat_FullRes = 0x08 , kDataFormat_Justify = 0x04 }

Protected Attributes
I2C	m_i2c

hal::SimDevice	m_simDevice

hal::SimEnum	m_simRange

hal::SimDouble	m_simX

hal::SimDouble	m_simY

hal::SimDouble	m_simZ

Static Protected Attributes
static constexpr int	kAddress = 0x1D

static constexpr int	kPowerCtlRegister = 0x2D

static constexpr int	kDataFormatRegister = 0x31

static constexpr int	kDataRegister = 0x32

static constexpr double	kGsPerLSB = 0.00390625

Additional Inherited Members
Protected Member Functions inherited from wpi::SendableHelper< ADXL345_I2C >
	SendableHelper ()=default

	~SendableHelper ()

Detailed Description

ADXL345 Accelerometer on I2C.

This class allows access to a Analog Devices ADXL345 3-axis accelerometer on an I2C bus. This class assumes the default (not alternate) sensor address of 0x1D (7-bit address).

The Onboard I2C port is subject to system lockups. See WPILib Known Issues page for details.

Member Enumeration Documentation

◆ Axes

enum frc::ADXL345_I2C::Axes

Enumerator
kAxis_X
kAxis_Y
kAxis_Z

◆ DataFormatFields

enum frc::ADXL345_I2C::DataFormatFields

protected

Enumerator
kDataFormat_SelfTest
kDataFormat_SPI
kDataFormat_IntInvert
kDataFormat_FullRes
kDataFormat_Justify

◆ PowerCtlFields

enum frc::ADXL345_I2C::PowerCtlFields

protected

Enumerator
kPowerCtl_Link
kPowerCtl_AutoSleep
kPowerCtl_Measure
kPowerCtl_Sleep

◆ Range

enum frc::ADXL345_I2C::Range

Enumerator
kRange_2G
kRange_4G
kRange_8G
kRange_16G

Constructor & Destructor Documentation

◆ ADXL345_I2C() [1/2]

frc::ADXL345_I2C::ADXL345_I2C	(	I2C::Port	port,
		Range	range = `kRange_2G`,
		int	deviceAddress = `kAddress`
	)

explicit

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	The I2C address of the accelerometer (0x1D or 0x53)

◆ ~ADXL345_I2C()

frc::ADXL345_I2C::~ADXL345_I2C ( )

overridedefault

◆ ADXL345_I2C() [2/2]

frc::ADXL345_I2C::ADXL345_I2C ( ADXL345_I2C && )

default

Member Function Documentation

◆ GetAcceleration()

virtual double frc::ADXL345_I2C::GetAcceleration ( Axes axis )

virtual

Get the acceleration of one axis in Gs.

Parameters

axis	The axis to read from.

Returns: Acceleration of the ADXL345 in Gs.

◆ GetAccelerations()

virtual AllAxes frc::ADXL345_I2C::GetAccelerations ( )

virtual

Get the acceleration of all axes in Gs.

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

◆ GetI2CDeviceAddress()

int frc::ADXL345_I2C::GetI2CDeviceAddress ( ) const

◆ GetI2CPort()

I2C::Port frc::ADXL345_I2C::GetI2CPort ( ) const

◆ GetX()

double frc::ADXL345_I2C::GetX ( )

Returns the acceleration along the X axis in g-forces.

Returns: The acceleration along the X axis in g-forces.

◆ GetY()

double frc::ADXL345_I2C::GetY ( )

Returns the acceleration along the Y axis in g-forces.

Returns: The acceleration along the Y axis in g-forces.

◆ GetZ()

double frc::ADXL345_I2C::GetZ ( )

Returns the acceleration along the Z axis in g-forces.

Returns: The acceleration along the Z axis in g-forces.

◆ InitSendable()

void frc::ADXL345_I2C::InitSendable ( nt::NTSendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements nt::NTSendable.

◆ operator=()

ADXL345_I2C & frc::ADXL345_I2C::operator= ( ADXL345_I2C && )

default

◆ SetRange()

void frc::ADXL345_I2C::SetRange ( Range range )

Set the measuring range of the accelerometer.

Parameters

range The maximum acceleration, positive or negative, that the accelerometer will measure.

Member Data Documentation

◆ kAddress

constexpr int frc::ADXL345_I2C::kAddress = 0x1D

staticconstexprprotected

◆ kDataFormatRegister

constexpr int frc::ADXL345_I2C::kDataFormatRegister = 0x31

staticconstexprprotected

◆ kDataRegister

constexpr int frc::ADXL345_I2C::kDataRegister = 0x32

staticconstexprprotected

◆ kGsPerLSB

constexpr double frc::ADXL345_I2C::kGsPerLSB = 0.00390625

staticconstexprprotected

◆ kPowerCtlRegister

constexpr int frc::ADXL345_I2C::kPowerCtlRegister = 0x2D

staticconstexprprotected

◆ m_i2c

I2C frc::ADXL345_I2C::m_i2c

protected

◆ m_simDevice

hal::SimDevice frc::ADXL345_I2C::m_simDevice

protected

◆ m_simRange

hal::SimEnum frc::ADXL345_I2C::m_simRange

protected

◆ m_simX

hal::SimDouble frc::ADXL345_I2C::m_simX

protected

◆ m_simY

hal::SimDouble frc::ADXL345_I2C::m_simY

protected

◆ m_simZ

hal::SimDouble frc::ADXL345_I2C::m_simZ

protected

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

frc/ADXL345_I2C.h

Classes

Public Types

Public Member Functions

Protected Types

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Axes

◆ DataFormatFields

◆ PowerCtlFields

◆ Range

Constructor & Destructor Documentation

◆ ADXL345_I2C() [1/2]

◆ ~ADXL345_I2C()

◆ ADXL345_I2C() [2/2]

Member Function Documentation

◆ GetAcceleration()

◆ GetAccelerations()

◆ GetI2CDeviceAddress()

◆ GetI2CPort()

◆ GetX()

◆ GetY()

◆ GetZ()

◆ InitSendable()

◆ operator=()

◆ SetRange()

Member Data Documentation

◆ kAddress

◆ kDataFormatRegister

◆ kDataRegister

◆ kGsPerLSB

◆ kPowerCtlRegister

◆ m_i2c

◆ m_simDevice

◆ m_simRange

◆ m_simX

◆ m_simY

◆ m_simZ