Package edu.wpi.first.wpilibj

Class ADXL345_I2C

java.lang.Object

edu.wpi.first.wpilibj.ADXL345_I2C

All Implemented Interfaces:

NTSendable, Sendable, AutoCloseable

public class ADXL345_I2C
extends Object
implements NTSendable, AutoCloseable

ADXL345 I2C Accelerometer.

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

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ADXL345_I2C.AllAxes	Container type for accelerations from all axes.
static enum	ADXL345_I2C.Axes	Accelerometer axes.
static enum	ADXL345_I2C.Range	Accelerometer range.

Field Summary

Fields

Modifier and Type	Field	Description
static final byte	kAddress	Default I2C device address.

Constructor Summary

Constructors

Constructor	Description
ADXL345_I2C(I2C.Port port, ADXL345_I2C.Range range)	Constructs the ADXL345 Accelerometer with I2C address 0x1D.
ADXL345_I2C(I2C.Port port, ADXL345_I2C.Range range, int deviceAddress)	Constructs the ADXL345 Accelerometer over I2C.

Method Summary

Modifier and Type	Method	Description
void	close()
double	getAcceleration(ADXL345_I2C.Axes axis)	Get the acceleration of one axis in Gs.
ADXL345_I2C.AllAxes	getAccelerations()	Get the acceleration of all axes in Gs.
int	getDeviceAddress()	Returns the I2C device address.
int	getPort()	Returns the I2C port.
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.
void	initSendable(NTSendableBuilder builder)	Initializes this Sendable object.
final void	setRange(ADXL345_I2C.Range range)	Set the measuring range of the accelerometer.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.networktables.NTSendable

initSendable

Field Details

kAddress

public static final byte kAddress

Default I2C device address.

See Also:

• Constant Field Values

Constructor Details

ADXL345_I2C

public ADXL345_I2C(I2C.Port port,
 ADXL345_I2C.Range range)

Constructs the ADXL345 Accelerometer with I2C address 0x1D.

Parameters:

port - The I2C port the accelerometer is attached to

range - The range (+ or -) that the accelerometer will measure.

ADXL345_I2C

public ADXL345_I2C(I2C.Port port,
 ADXL345_I2C.Range range,
 int deviceAddress)

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

Method Details

getPort

public int getPort()

Returns the I2C port.

Returns:

The I2C port.

getDeviceAddress

public int getDeviceAddress()

Returns the I2C device address.

Returns:

The I2C device address.

close

public void close()

Specified by:

close in interface AutoCloseable

setRange

public final void setRange(ADXL345_I2C.Range range)

Set the measuring range of the accelerometer.

Parameters:

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

getX

public double getX()

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

Returns:

The acceleration along the X axis in g-forces.

getY

public double getY()

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

Returns:

The acceleration along the Y axis in g-forces.

getZ

public double getZ()

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

Returns:

The acceleration along the Z axis in g-forces.

getAcceleration

public double getAcceleration(ADXL345_I2C.Axes axis)

Get the acceleration of one axis in Gs.

Parameters:

axis - The axis to read from.

Returns:

Acceleration of the ADXL345 in Gs.

getAccelerations

public ADXL345_I2C.AllAxes getAccelerations()

Get the acceleration of all axes in Gs.

Returns:

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

initSendable

public void initSendable(NTSendableBuilder builder)

Description copied from interface: NTSendable

Initializes this Sendable object.

Specified by:

initSendable in interface NTSendable

Parameters:

builder - sendable builder