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 }
	ADIS16470 calibration times. More...

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

Public Member Functions
	ADIS16470_IMU ()
	Creates a new ADIS16740 IMU object. More...

	ADIS16470_IMU (IMUAxis yaw_axis, IMUAxis pitch_axis, IMUAxis roll_axis)
	Creates a new ADIS16740 IMU object. More...

	ADIS16470_IMU (IMUAxis yaw_axis, IMUAxis pitch_axis, IMUAxis roll_axis, frc::SPI::Port port, CalibrationTime cal_time)
	Creates a new ADIS16740 IMU object. More...

	~ADIS16470_IMU () override

	ADIS16470_IMU (ADIS16470_IMU &&other)

ADIS16470_IMU &	operator= (ADIS16470_IMU &&other)

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

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 ()
	Reset the gyro. More...

void	SetGyroAngle (IMUAxis axis, units::degree_t angle)
	Allow the designated gyro angle to be set to a given value. More...

void	SetGyroAngleX (units::degree_t angle)
	Allow the gyro angle X to be set to a given value. More...

void	SetGyroAngleY (units::degree_t angle)
	Allow the gyro angle Y to be set to a given value. More...

void	SetGyroAngleZ (units::degree_t angle)
	Allow the gyro angle Z to be set to a given value. More...

units::degree_t	GetAngle (IMUAxis axis=IMUAxis::kYaw) const
	Returns the axis angle (CCW positive). More...

units::degrees_per_second_t	GetRate (IMUAxis axis=IMUAxis::kYaw) const
	Returns the axis angular rate (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
	Returns the X-axis complementary angle. More...

units::degree_t	GetYComplementaryAngle () const
	Returns the Y-axis complementary angle. 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...

IMUAxis	GetYawAxis () const
	Returns which axis, kX, kY, or kZ, is set to the yaw axis. More...

IMUAxis	GetPitchAxis () const
	Returns which axis, kX, kY, or kZ, is set to the pitch axis. More...

IMUAxis	GetRollAxis () const
	Returns which axis, kX, kY, or kZ, is set to the roll axis. More...

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

int	GetPort () const
	Gets 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

IMUAxis	m_pitch_axis

IMUAxis	m_roll_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

ADIS16470 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::ADIS16470_IMU::IMUAxis

IMU axes.

kX, kY, and kZ refer to the IMU's X, Y, and Z axes respectively. kYaw, kPitch, and kRoll are configured by the user to refer to an X, Y, or Z axis.

Enumerator
kX	The IMU's X axis.
kY	The IMU's Y axis.
kZ	The IMU's Z axis.
kYaw	The user-configured yaw axis.
kPitch	The user-configured pitch axis.
kRoll	The user-configured roll axis.

Constructor & Destructor Documentation

◆ ADIS16470_IMU() [1/4]

frc::ADIS16470_IMU::ADIS16470_IMU ( )

Creates a new ADIS16740 IMU object.

The default setup is the onboard SPI port with a calibration time of 4 seconds. Yaw, pitch, and roll are kZ, kX, and kY respectively.

◆ ADIS16470_IMU() [2/4]

frc::ADIS16470_IMU::ADIS16470_IMU	(	IMUAxis	yaw_axis,
		IMUAxis	pitch_axis,
		IMUAxis	roll_axis
	)

Creates a new ADIS16740 IMU object.

The default setup is the onboard SPI port with a calibration time of 4 seconds.

Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch,or kRoll will result in an error.

Parameters

yaw_axis	The axis that measures the yaw
pitch_axis	The axis that measures the pitch
roll_axis	The axis that measures the roll

◆ ADIS16470_IMU() [3/4]

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

explicit

Creates a new ADIS16740 IMU object.

Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch, or kRoll will result in an error.

Parameters

yaw_axis	The axis that measures the yaw
pitch_axis	The axis that measures the pitch
roll_axis	The axis that measures the roll
port	The SPI Port the gyro is plugged into
cal_time	Calibration time

◆ ~ADIS16470_IMU()

frc::ADIS16470_IMU::~ADIS16470_IMU ( )

override

◆ ADIS16470_IMU() [4/4]

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

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 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::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 ( IMUAxis axis = IMUAxis::kYaw ) const

Returns the axis angle (CCW positive).

Parameters

axis	The IMUAxis whose angle to return. Defaults to user configured Yaw.

Returns: The axis angle (CCW positive).

◆ GetPitchAxis()

IMUAxis frc::ADIS16470_IMU::GetPitchAxis ( ) const

Returns which axis, kX, kY, or kZ, is set to the pitch axis.

Returns: IMUAxis Pitch Axis

◆ GetPort()

int frc::ADIS16470_IMU::GetPort ( ) const

Gets the SPI port number.

Returns: The SPI port number.

◆ GetRate()

units::degrees_per_second_t frc::ADIS16470_IMU::GetRate ( IMUAxis axis = IMUAxis::kYaw ) const

Returns the axis angular rate (CCW positive).

Parameters

axis	The IMUAxis whose rate to return. Defaults to user configured Yaw.

Returns: Axis angular rate (CCW positive).

◆ GetRollAxis()

IMUAxis frc::ADIS16470_IMU::GetRollAxis ( ) const

Returns which axis, kX, kY, or kZ, is set to the roll axis.

Returns: IMUAxis Roll Axis

◆ GetXComplementaryAngle()

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

Returns the X-axis complementary angle.

◆ GetXFilteredAccelAngle()

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

Returns the X-axis filtered acceleration angle.

◆ GetYawAxis()

IMUAxis frc::ADIS16470_IMU::GetYawAxis ( ) const

Returns which axis, kX, kY, or kZ, is set to the yaw axis.

Returns: IMUAxis Yaw Axis

◆ GetYComplementaryAngle()

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

Returns the Y-axis complementary angle.

◆ GetYFilteredAccelAngle()

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

Returns the Y-axis filtered acceleration angle.

◆ 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

Checks the connection status of the IMU.

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

◆ operator=()

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

◆ Reset()

void frc::ADIS16470_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.

◆ SetGyroAngle()

void frc::ADIS16470_IMU::SetGyroAngle	(	IMUAxis	axis,
		units::degree_t	angle
	)

Allow the designated gyro angle to be set to a given value.

This may happen with unread values in the buffer, it is suggested that the IMU is not moving when this method is run.

Parameters

axis	IMUAxis that will be changed
angle	The new angle (CCW positive)

◆ SetGyroAngleX()

void frc::ADIS16470_IMU::SetGyroAngleX ( units::degree_t angle )

Allow the gyro angle X to be set to a given value.

This may happen with unread values in the buffer, it is suggested that the IMU is not moving when this method is run.

Parameters

angle The new angle (CCW positive)

◆ SetGyroAngleY()

void frc::ADIS16470_IMU::SetGyroAngleY ( units::degree_t angle )

Allow the gyro angle Y to be set to a given value.

This may happen with unread values in the buffer, it is suggested that the IMU is not moving when this method is run.

Parameters

angle The new angle (CCW positive)

◆ SetGyroAngleZ()

void frc::ADIS16470_IMU::SetGyroAngleZ ( units::degree_t angle )

Allow the gyro angle Z to be set to a given value.

This may happen with unread values in the buffer, it is suggested that the IMU is not moving when this method is run.

Parameters

angle The new angle (CCW positive)

Member Data Documentation

◆ m_pitch_axis

IMUAxis frc::ADIS16470_IMU::m_pitch_axis

◆ m_roll_axis

IMUAxis frc::ADIS16470_IMU::m_roll_axis

◆ 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

Detailed Description

Member Enumeration Documentation

◆ CalibrationTime

◆ IMUAxis

Constructor & Destructor Documentation

◆ ADIS16470_IMU() [1/4]

◆ ADIS16470_IMU() [2/4]

◆ ADIS16470_IMU() [3/4]

◆ ~ADIS16470_IMU()

◆ ADIS16470_IMU() [4/4]

Member Function Documentation

◆ Calibrate()

◆ ConfigCalTime()

◆ ConfigDecRate()

◆ GetAccelX()

◆ GetAccelY()

◆ GetAccelZ()

◆ GetAngle()

◆ GetPitchAxis()

◆ GetPort()

◆ GetRate()

◆ GetRollAxis()

◆ GetXComplementaryAngle()

◆ GetXFilteredAccelAngle()

◆ GetYawAxis()

◆ GetYComplementaryAngle()

◆ GetYFilteredAccelAngle()

◆ InitSendable()

◆ IsConnected()

◆ operator=()

◆ Reset()

◆ SetGyroAngle()

◆ SetGyroAngleX()

◆ SetGyroAngleY()

◆ SetGyroAngleZ()

Member Data Documentation

◆ m_pitch_axis

◆ m_roll_axis

◆ m_yaw_axis