frc::ADXL345_I2C Class Reference

ADXL345 Accelerometer on I2C. More...

#include <frc/ADXL345_I2C.h>

Inheritance diagram for frc::ADXL345_I2C:

Classes
struct	AllAxes
	Container type for accelerations from all axes. More...

Public Types
enum	Range { kRange_2G = 0 , kRange_4G = 1 , kRange_8G = 2 , kRange_16G = 3 }
	Accelerometer range. More...
enum	Axes { kAxis_X = 0x00 , kAxis_Y = 0x02 , kAxis_Z = 0x04 }
	Accelerometer axes. More...

Public Member Functions
	ADXL345_I2C (I2C::Port port, Range range=kRange_2G, int deviceAddress=kAddress)
	Constructs the ADXL345 Accelerometer over I2C.
	~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.
double	GetX ()
	Returns the acceleration along the X axis in g-forces.
double	GetY ()
	Returns the acceleration along the Y axis in g-forces.
double	GetZ ()
	Returns the acceleration along the Z axis in g-forces.
virtual double	GetAcceleration (Axes axis)
	Get the acceleration of one axis in Gs.
virtual AllAxes	GetAccelerations ()
	Get the acceleration of all axes in Gs.
void	InitSendable (nt::NTSendableBuilder &builder) override
	Initializes this Sendable object.
Public Member Functions inherited from nt::NTSendable
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object.
Public Member Functions inherited from wpi::Sendable
virtual constexpr	~Sendable ()=default
Public Member Functions inherited from wpi::SendableHelper< ADXL345_I2C >
constexpr	SendableHelper (const SendableHelper &rhs)=default
constexpr	SendableHelper (SendableHelper &&rhs)
constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default
constexpr SendableHelper &	operator= (SendableHelper &&rhs)

Static Public Attributes
static constexpr int	kAddress = 0x1D
	Default I2C device address.

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

Accelerometer axes.

Enumerator
kAxis_X	X axis.
kAxis_Y	Y axis.
kAxis_Z	Z axis.

Range

enum frc::ADXL345_I2C::Range

Accelerometer range.

Enumerator
kRange_2G	2 Gs max.
kRange_4G	4 Gs max.
kRange_8G	8 Gs max.
kRange_16G	16 Gs max.

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

int frc::ADXL345_I2C::kAddress = 0x1D

staticconstexpr

Default I2C device address.

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

• frc/ADXL345_I2C.h