Package edu.wpi.first.wpilibj

Class ADIS16470_IMU

java.lang.Object
edu.wpi.first.wpilibj.ADIS16470_IMU
All Implemented Interfaces:
Sendable, AutoCloseable
public class ADIS16470_IMU
extends Object
implements AutoCloseable, Sendable
This class is for the ADIS16470 IMU that connects to the RoboRIO SPI port.

  • Constructor Details

    • ADIS16470_IMU

      public 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

      public ADIS16470_IMU​(ADIS16470_IMU.IMUAxis yaw_axis, ADIS16470_IMU.IMUAxis pitch_axis, ADIS16470_IMU.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

      public ADIS16470_IMU​(ADIS16470_IMU.IMUAxis yaw_axis, ADIS16470_IMU.IMUAxis pitch_axis, ADIS16470_IMU.IMUAxis roll_axis, SPI.Port port, ADIS16470_IMU.CalibrationTime cal_time)
      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

  • Method Details

    • isConnected

      public boolean isConnected()
      Checks the connection status of the IMU.
      Returns:
      True if the IMU is connected, false otherwise.

    • configCalTime

      public int configCalTime​(ADIS16470_IMU.CalibrationTime new_cal_time)
      Configures calibration time
      Parameters:
      new_cal_time - New calibration time
      Returns:
      1 if the new calibration time is the same as the current one else 0

    • configDecRate

      public int configDecRate​(int 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.

    • calibrate

      public void calibrate()
      Calibrate the gyro. It's important to make sure that the robot is not moving while the calibration is in progress, this is typically done when the robot is first turned on while it's sitting at rest before the match starts.

    • close

      public void close()
      Delete (free) the spi port used for the IMU.
      Specified by:
      close in interface AutoCloseable

    • reset

      public void 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

      public void setGyroAngle​(ADIS16470_IMU.IMUAxis axis, double 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 - A double in degrees (CCW positive)

    • setGyroAngleX

      public void setGyroAngleX​(double 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 - A double in degrees (CCW positive)

    • setGyroAngleY

      public void setGyroAngleY​(double 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 - A double in degrees (CCW positive)

    • setGyroAngleZ

      public void setGyroAngleZ​(double 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 - A double in degrees (CCW positive)

    • getAngle

      public double getAngle​(ADIS16470_IMU.IMUAxis axis)
      Returns the axis angle in degrees (CCW positive).
      Parameters:
      axis - The IMUAxis whose angle to return.
      Returns:
      The axis angle in degrees (CCW positive).

    • getAngle

      public double getAngle()
      Returns the Yaw axis angle in degrees (CCW positive).
      Returns:
      The Yaw axis angle in degrees (CCW positive).

    • getRate

      public double getRate​(ADIS16470_IMU.IMUAxis axis)
      Returns the axis angular rate in degrees per second (CCW positive).
      Parameters:
      axis - The IMUAxis whose rate to return.
      Returns:
      Axis angular rate in degrees per second (CCW positive).

    • getRate

      public double getRate()
      Returns the Yaw axis angular rate in degrees per second (CCW positive).
      Returns:
      Yaw axis angular rate in degrees per second (CCW positive).

    • getYawAxis

      public ADIS16470_IMU.IMUAxis getYawAxis()
      Returns which axis, kX, kY, or kZ, is set to the yaw axis.
      Returns:
      IMUAxis Yaw Axis

    • getPitchAxis

      public ADIS16470_IMU.IMUAxis getPitchAxis()
      Returns which axis, kX, kY, or kZ, is set to the pitch axis.
      Returns:
      IMUAxis Pitch Axis

    • getRollAxis

      public ADIS16470_IMU.IMUAxis getRollAxis()
      Returns which axis, kX, kY, or kZ, is set to the roll axis.
      Returns:
      IMUAxis Roll Axis

    • getAccelX

      public double getAccelX()
      Returns the acceleration in the X axis in meters per second squared.
      Returns:
      The acceleration in the X axis in meters per second squared.

    • getAccelY

      public double getAccelY()
      Returns the acceleration in the Y axis in meters per second squared.
      Returns:
      The acceleration in the Y axis in meters per second squared.

    • getAccelZ

      public double getAccelZ()
      Returns the acceleration in the Z axis in meters per second squared.
      Returns:
      The acceleration in the Z axis in meters per second squared.

    • getXComplementaryAngle

      public double getXComplementaryAngle()
      Returns the complementary angle around the X axis computed from accelerometer and gyro rate measurements.
      Returns:
      The X-axis complementary angle in degrees.

    • getYComplementaryAngle

      public double getYComplementaryAngle()
      Returns the complementary angle around the Y axis computed from accelerometer and gyro rate measurements.
      Returns:
      The Y-axis complementary angle in degrees.

    • getXFilteredAccelAngle

      public double getXFilteredAccelAngle()
      Returns the X-axis filtered acceleration angle in degrees.
      Returns:
      The X-axis filtered acceleration angle in degrees.

    • getYFilteredAccelAngle

      public double getYFilteredAccelAngle()
      Returns the Y-axis filtered acceleration angle in degrees.
      Returns:
      The Y-axis filtered acceleration angle in degrees.

    • getPort

      public int getPort()
      Gets the SPI port number.
      Returns:
      The SPI port number.

    • initSendable

      public void initSendable​(SendableBuilder builder)
      Description copied from interface: Sendable
      Initializes this Sendable object.
      Specified by:
      initSendable in interface Sendable
      Parameters:
      builder - sendable builder