Use DMA SPI to read rate, acceleration, and magnetometer data from the ADIS16448 IMU and return the robots heading relative to a starting position, AHRS, and instant measurements. More...

#include <frc/ADIS16448_IMU.h>

Inheritance diagram for frc::ADIS16448_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 }
	ADIS16448 calibration times. More...

enum	IMUAxis { kX , kY , kZ }
	IMU axes. More...

Public Member Functions
	ADIS16448_IMU ()
	IMU constructor on onboard MXP CS0, Z-up orientation, and complementary AHRS computation. More...

	ADIS16448_IMU (IMUAxis yaw_axis, SPI::Port port, CalibrationTime cal_time)
	IMU constructor on the specified MXP port and orientation. More...

	~ADIS16448_IMU () override

	ADIS16448_IMU (ADIS16448_IMU &&)

ADIS16448_IMU &	operator= (ADIS16448_IMU &&)

void	Calibrate ()
	Initialize the IMU. More...

int	ConfigCalTime (CalibrationTime new_cal_time)
	Configures the calibration time used for the next calibrate. More...

void	Reset ()
	Reset the gyro. 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::degree_t	GetGyroAngleX () const
	Returns the accumulated gyro angle in the X axis. More...

units::degree_t	GetGyroAngleY () const
	Returns the accumulated gyro angle in the Y axis. More...

units::degree_t	GetGyroAngleZ () const
	Returns the accumulated gyro angle in the Z axis. More...

units::degrees_per_second_t	GetGyroRateX () const
	Returns the angular rate in the X axis. More...

units::degrees_per_second_t	GetGyroRateY () const
	Returns the angular rate in the Y axis. More...

units::degrees_per_second_t	GetGyroRateZ () const
	Returns the angular rate in the Z axis. 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
	Returns the complementary angle around the X axis computed from accelerometer and gyro rate measurements. More...

units::degree_t	GetYComplementaryAngle () const
	Returns the complementary angle around the Y axis computed from accelerometer and gyro rate measurements. More...

units::degree_t	GetXFilteredAccelAngle () const
	Returns the X-axis filtered acceleration angle. More...

units::degree_t	GetYFilteredAccelAngle () const
	Returns the Y-axis filtered acceleration angle. More...

units::tesla_t	GetMagneticFieldX () const
	Returns the magnetic field strength in the X axis. More...

units::tesla_t	GetMagneticFieldY () const
	Returns the magnetic field strength in the Y axis. More...

units::tesla_t	GetMagneticFieldZ () const
	Returns the magnetic field strength in the Z axis. More...

units::pounds_per_square_inch_t	GetBarometricPressure () const
	Returns the barometric pressure. More...

units::celsius_t	GetTemperature () const
	Returns the temperature. More...

IMUAxis	GetYawAxis () const

int	SetYawAxis (IMUAxis yaw_axis)

bool	IsConnected () const
	Checks the connection status of the IMU. More...

int	ConfigDecRate (uint16_t decimationRate)
	Configures the decimation rate of the IMU. More...

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< ADIS16448_IMU >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

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

SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Protected Member Functions inherited from wpi::SendableHelper< ADIS16448_IMU >
	SendableHelper ()=default

	~SendableHelper ()

Detailed Description

Use DMA SPI to read rate, acceleration, and magnetometer data from the ADIS16448 IMU and return the robots heading relative to a starting position, AHRS, and instant measurements.

The ADIS16448 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 ADIS16448 IMU connected via the SPI port available on the RoboRIO MXP port.

Member Enumeration Documentation

◆ CalibrationTime

enum class frc::ADIS16448_IMU::CalibrationTime

strong

ADIS16448 calibration times.

Enumerator
_32ms	32 ms calibration time.
_64ms	64 ms calibration time.
_128ms	128 ms calibration time.
_256ms	256 ms calibration time.
_512ms	512 ms calibration time.
_1s	1 s calibration time.
_2s	2 s calibration time.
_4s	4 s calibration time.
_8s	8 s calibration time.
_16s	16 s calibration time.
_32s	32 s calibration time.
_64s	64 s calibration time.

◆ IMUAxis

enum frc::ADIS16448_IMU::IMUAxis

IMU axes.

Enumerator
kX	The IMU's X axis.
kY	The IMU's Y axis.
kZ	The IMU's Z axis.

Constructor & Destructor Documentation

◆ ADIS16448_IMU() [1/3]

frc::ADIS16448_IMU::ADIS16448_IMU ( )

IMU constructor on onboard MXP CS0, Z-up orientation, and complementary AHRS computation.

◆ ADIS16448_IMU() [2/3]

frc::ADIS16448_IMU::ADIS16448_IMU	(	IMUAxis	yaw_axis,
		SPI::Port	port,
		CalibrationTime	cal_time
	)

explicit

IMU constructor on the specified MXP port and orientation.

Parameters

yaw_axis	The axis where gravity is present. Valid options are kX, kY, and kZ
port	The SPI port where the IMU is connected.
cal_time	The calibration time that should be used on start-up.

◆ ~ADIS16448_IMU()

frc::ADIS16448_IMU::~ADIS16448_IMU ( )

override

◆ ADIS16448_IMU() [3/3]

frc::ADIS16448_IMU::ADIS16448_IMU ( ADIS16448_IMU && )

Member Function Documentation

◆ Calibrate()

void frc::ADIS16448_IMU::Calibrate ( )

Initialize the IMU.

Perform gyro offset calibration by collecting data for a number of seconds and computing the center value. The center value is subtracted from subsequent measurements.

It's important to make sure that the robot is not moving while the centering calculations are in progress, this is typically done when the robot is first turned on while it's sitting at rest before the match starts.

The calibration routine can be triggered by the user during runtime.

◆ ConfigCalTime()

int frc::ADIS16448_IMU::ConfigCalTime ( CalibrationTime new_cal_time )

Configures the calibration time used for the next calibrate.

Parameters

new_cal_time The calibration time that should be used

◆ ConfigDecRate()

int frc::ADIS16448_IMU::ConfigDecRate ( uint16_t decimationRate )

Configures the decimation rate of the IMU.

Parameters

decimationRate The new decimation value.

Returns: 0 if success, 1 if no change, 2 if error.

◆ GetAccelX()

units::meters_per_second_squared_t frc::ADIS16448_IMU::GetAccelX ( ) const

Returns the acceleration in the X axis.

◆ GetAccelY()

units::meters_per_second_squared_t frc::ADIS16448_IMU::GetAccelY ( ) const

Returns the acceleration in the Y axis.

◆ GetAccelZ()

units::meters_per_second_squared_t frc::ADIS16448_IMU::GetAccelZ ( ) const

Returns the acceleration in the Z axis.

◆ GetAngle()

units::degree_t frc::ADIS16448_IMU::GetAngle ( ) const

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

◆ GetBarometricPressure()

units::pounds_per_square_inch_t frc::ADIS16448_IMU::GetBarometricPressure ( ) const

Returns the barometric pressure.

◆ GetGyroAngleX()

units::degree_t frc::ADIS16448_IMU::GetGyroAngleX ( ) const

Returns the accumulated gyro angle in the X axis.

◆ GetGyroAngleY()

units::degree_t frc::ADIS16448_IMU::GetGyroAngleY ( ) const

Returns the accumulated gyro angle in the Y axis.

◆ GetGyroAngleZ()

units::degree_t frc::ADIS16448_IMU::GetGyroAngleZ ( ) const

Returns the accumulated gyro angle in the Z axis.

◆ GetGyroRateX()

units::degrees_per_second_t frc::ADIS16448_IMU::GetGyroRateX ( ) const

Returns the angular rate in the X axis.

◆ GetGyroRateY()

units::degrees_per_second_t frc::ADIS16448_IMU::GetGyroRateY ( ) const

Returns the angular rate in the Y axis.

◆ GetGyroRateZ()

units::degrees_per_second_t frc::ADIS16448_IMU::GetGyroRateZ ( ) const

Returns the angular rate in the Z axis.

◆ GetMagneticFieldX()

units::tesla_t frc::ADIS16448_IMU::GetMagneticFieldX ( ) const

Returns the magnetic field strength in the X axis.

◆ GetMagneticFieldY()

units::tesla_t frc::ADIS16448_IMU::GetMagneticFieldY ( ) const

Returns the magnetic field strength in the Y axis.

◆ GetMagneticFieldZ()

units::tesla_t frc::ADIS16448_IMU::GetMagneticFieldZ ( ) const

Returns the magnetic field strength in the Z axis.

◆ GetPort()

int frc::ADIS16448_IMU::GetPort ( ) const

Get the SPI port number.

Returns: The SPI port number.

◆ GetRate()

units::degrees_per_second_t frc::ADIS16448_IMU::GetRate ( ) const

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

◆ GetTemperature()

units::celsius_t frc::ADIS16448_IMU::GetTemperature ( ) const

Returns the temperature.

◆ GetXComplementaryAngle()

units::degree_t frc::ADIS16448_IMU::GetXComplementaryAngle ( ) const

Returns the complementary angle around the X axis computed from accelerometer and gyro rate measurements.

◆ GetXFilteredAccelAngle()

units::degree_t frc::ADIS16448_IMU::GetXFilteredAccelAngle ( ) const

Returns the X-axis filtered acceleration angle.

◆ GetYawAxis()

IMUAxis frc::ADIS16448_IMU::GetYawAxis ( ) const

◆ GetYComplementaryAngle()

units::degree_t frc::ADIS16448_IMU::GetYComplementaryAngle ( ) const

Returns the complementary angle around the Y axis computed from accelerometer and gyro rate measurements.

◆ GetYFilteredAccelAngle()

units::degree_t frc::ADIS16448_IMU::GetYFilteredAccelAngle ( ) const

Returns the Y-axis filtered acceleration angle.

◆ InitSendable()

void frc::ADIS16448_IMU::InitSendable ( wpi::SendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements wpi::Sendable.

◆ IsConnected()

bool frc::ADIS16448_IMU::IsConnected ( ) const

Checks the connection status of the IMU.

Returns: True if the IMU is connected, false otherwise.

◆ operator=()

ADIS16448_IMU & frc::ADIS16448_IMU::operator= ( ADIS16448_IMU && )

◆ Reset()

void frc::ADIS16448_IMU::Reset ( )

Reset the gyro.

Resets the gyro accumulations to a heading of zero. This can be used if there is significant drift in the gyro and it needs to be recalibrated after running.

◆ SetYawAxis()

int frc::ADIS16448_IMU::SetYawAxis ( IMUAxis yaw_axis )

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

frc/ADIS16448_IMU.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ CalibrationTime

◆ IMUAxis

Constructor & Destructor Documentation

◆ ADIS16448_IMU() [1/3]

◆ ADIS16448_IMU() [2/3]

◆ ~ADIS16448_IMU()

◆ ADIS16448_IMU() [3/3]

Member Function Documentation

◆ Calibrate()

◆ ConfigCalTime()

◆ ConfigDecRate()

◆ GetAccelX()

◆ GetAccelY()

◆ GetAccelZ()

◆ GetAngle()

◆ GetBarometricPressure()

◆ GetGyroAngleX()

◆ GetGyroAngleY()

◆ GetGyroAngleZ()

◆ GetGyroRateX()

◆ GetGyroRateY()

◆ GetGyroRateZ()

◆ GetMagneticFieldX()

◆ GetMagneticFieldY()

◆ GetMagneticFieldZ()

◆ GetPort()

◆ GetRate()

◆ GetTemperature()

◆ GetXComplementaryAngle()

◆ GetXFilteredAccelAngle()

◆ GetYawAxis()

◆ GetYComplementaryAngle()

◆ GetYFilteredAccelAngle()

◆ InitSendable()

◆ IsConnected()

◆ operator=()

◆ Reset()

◆ SetYawAxis()