Package edu.wpi.first.wpilibj

Class ADXL345_SPI

java.lang.Object

edu.wpi.first.wpilibj.ADXL345_SPI

All Implemented Interfaces:

NTSendable, Sendable, AutoCloseable

public class ADXL345_SPI
extends Object
implements NTSendable, AutoCloseable

ADXL345 SPI Accelerometer.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ADXL345_SPI.AllAxes	Container type for accelerations from all axes.
static class	ADXL345_SPI.Axes	Accelerometer axes.
static class	ADXL345_SPI.Range	Accelerometer range.

Constructor Summary

Constructors

Constructor	Description
ADXL345_SPI(SPI.Port port, ADXL345_SPI.Range range)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	close()
double	getAcceleration(ADXL345_SPI.Axes axis)	Get the acceleration of one axis in Gs.
ADXL345_SPI.AllAxes	getAccelerations()	Get the acceleration of all axes in Gs.
int	getPort()	Returns the SPI 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.
void	setRange(ADXL345_SPI.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

Constructor Details

ADXL345_SPI

public ADXL345_SPI(SPI.Port port, ADXL345_SPI.Range range)

Constructor.

Parameters:

port - The SPI port that the accelerometer is connected to

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

Method Details

getPort

public int getPort()

Returns the SPI port.

Returns:

The SPI port.

close

public void close()

Specified by:

close in interface AutoCloseable

setRange

public void setRange(ADXL345_SPI.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_SPI.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_SPI.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