edu.wpi.first.wpilibj
Class Accelerometer

java.lang.Object
  edu.wpi.first.wpilibj.SensorBase
      edu.wpi.first.wpilibj.Accelerometer

All Implemented Interfaces:

IDevice, ISensor, PIDSource, FrcBotSimComponent

public class Accelerometer
extends SensorBase
implements PIDSource, ISensor

Handle operation of the accelerometer. The accelerometer reads acceleration directly through the sensor. Many sensors have multiple axis and can be treated as multiple devices. Each is calibrated by finding the center value over a period of time.

Field Summary

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

kAnalogChannels, kAnalogModules, kDigitalChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond, n_simProperties

Constructor Summary

Accelerometer(AnalogChannel channel)
Create a new instance of Accelerometer from an existing AnalogChannel.

Accelerometer(int channel)
Create a new instance of an accelerometer.

Accelerometer(int slot, int channel)
Create new instance of accelerometer.

Method Summary

void	free() Delete the analog components used for the accelerometer.
double	getAcceleration() Return the acceleration in Gs.
double	pidGet() Get the Acceleration for the PID Source parent.
void	setSensitivity(double sensitivity) Set the accelerometer sensitivity.
void	setZero(double zero) Set the voltage that corresponds to 0 G.

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

checkAnalogChannel, checkAnalogModule, checkDigitalChannel, checkDigitalModule, checkPWMChannel, checkPWMModule, checkRelayChannel, checkRelayModule, checkSolenoidChannel, checkSolenoidModule, getDefaultAnalogModule, getDefaultDigitalModule, getDefaultSolenoidModule, getSimProperties, setDefaultAnalogModule, setDefaultDigitalModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

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

Constructor Detail

Accelerometer

public Accelerometer(int channel)

Create a new instance of an accelerometer. The accelerometer is assumed to be in the first analog module in the given analog channel. The constructor allocates desired analog channel.

Parameters:

channel - the port that the accelerometer is on on the default module

Accelerometer

public Accelerometer(int slot,
                     int channel)

Create new instance of accelerometer. Make a new instance of the accelerometer given a module and channel. The constructor allocates the desired analog channel from the specified module

Parameters:

slot - the slot that the module is in

channel - the port that the Accelerometer is on on the module

Accelerometer

public Accelerometer(AnalogChannel channel)

Create a new instance of Accelerometer from an existing AnalogChannel. Make a new instance of accelerometer given an AnalogChannel. This is particularly useful if the port is going to be read as an analog channel as well as through the Accelerometer class.

Parameters:

channel - an already initialized analog channel

Method Detail

free

public void free()

Delete the analog components used for the accelerometer.

Overrides:

free in class SensorBase

getAcceleration

public double getAcceleration()

Return the acceleration in Gs. The acceleration is returned units of Gs.

Returns:

The current acceleration of the sensor in Gs.

setSensitivity

public void setSensitivity(double sensitivity)

Set the accelerometer sensitivity. This sets the sensitivity of the accelerometer used for calculating the acceleration. The sensitivity varys by accelerometer model. There are constants defined for various models.

Parameters:

sensitivity - The sensitivity of accelerometer in Volts per G.

setZero

public void setZero(double zero)

Set the voltage that corresponds to 0 G. The zero G voltage varys by accelerometer model. There are constants defined for various models.

Parameters:

zero - The zero G voltage.

pidGet

public double pidGet()

Get the Acceleration for the PID Source parent.

Specified by:

pidGet in interface PIDSource

Returns:

The current acceleration in Gs.