edu.wpi.first.wpilibj

Class ADXL345_SPI

java.lang.Object

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.ADXL345_SPI

All Implemented Interfaces:

Accelerometer, LiveWindowSendable, Sendable

public class ADXL345_SPI
extends SensorBase
implements Accelerometer, LiveWindowSendable

Author:

dtjones, mwills

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ADXL345_SPI.AllAxes
static class	ADXL345_SPI.Axes

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj.interfaces.Accelerometer

Accelerometer.Range

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPDPChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	free() Free the resources used by this object
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.
String	getSmartDashboardType()
edu.wpi.first.wpilibj.tables.ITable	getTable()
double	getX() Common interface for getting the x axis acceleration
double	getY() Common interface for getting the y axis acceleration
double	getZ() Common interface for getting the z axis acceleration
void	initTable(edu.wpi.first.wpilibj.tables.ITable subtable) Initializes a table for this sendable object.
void	setRange(Accelerometer.Range range) {inheritdoc}
void	startLiveWindowMode() Start having this sendable object automatically respond to value changes reflect the value on the table.
void	stopLiveWindowMode() Stop having this sendable object automatically respond to value changes.
void	updateTable() Update the table for this sendable object with the latest values.

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, getDefaultSolenoidModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

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

Constructor Detail

ADXL345_SPI

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

Constructor.

Parameters:

port - The SPI port that the accelerometer is connected to

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

Method Detail

free

public void free()

Description copied from class: SensorBase

Free the resources used by this object

Overrides:

free in class SensorBase

setRange

public void setRange(Accelerometer.Range range)

{inheritdoc}

Specified by:

setRange in interface Accelerometer

Parameters:

range - The maximum acceleration, positive or negative, that the accelerometer will measure. Not all accelerometers support all ranges.

getX

public double getX()

Common interface for getting the x axis acceleration

Specified by:

getX in interface Accelerometer

Returns:

The acceleration along the x axis in g-forces

getY

public double getY()

Common interface for getting the y axis acceleration

Specified by:

getY in interface Accelerometer

Returns:

The acceleration along the y axis in g-forces

getZ

public double getZ()

Common interface for getting the z axis acceleration

Specified by:

getZ in interface Accelerometer

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.

getSmartDashboardType

public String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

Returns:

the string representation of the named data type that will be used by the smart dashboard for this sendable

initTable

public void initTable(edu.wpi.first.wpilibj.tables.ITable subtable)

Initializes a table for this sendable object.

Specified by:

initTable in interface Sendable

Parameters:

subtable - The table to put the values in.

updateTable

public void updateTable()

Update the table for this sendable object with the latest values.

Specified by:

updateTable in interface LiveWindowSendable

getTable

public edu.wpi.first.wpilibj.tables.ITable getTable()

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the sendable

startLiveWindowMode

public void startLiveWindowMode()

Description copied from interface: LiveWindowSendable

Start having this sendable object automatically respond to value changes reflect the value on the table.

Specified by:

startLiveWindowMode in interface LiveWindowSendable

stopLiveWindowMode

public void stopLiveWindowMode()

Description copied from interface: LiveWindowSendable

Stop having this sendable object automatically respond to value changes.

Specified by:

stopLiveWindowMode in interface LiveWindowSendable