Package edu.wpi.first.wpilibj
Class AnalogAccelerometer
- java.lang.Object
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- edu.wpi.first.wpilibj.AnalogAccelerometer
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- All Implemented Interfaces:
Sendable
,AutoCloseable
- Direct Known Subclasses:
PIDAnalogAccelerometer
public class AnalogAccelerometer extends Object implements Sendable, AutoCloseable
Handle operation of an analog 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.
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Constructor Summary
Constructors Constructor Description AnalogAccelerometer(int channel)
Create a new instance of an accelerometer.AnalogAccelerometer(AnalogInput channel)
Create a new instance of Accelerometer from an existing AnalogChannel.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
close()
Delete the analog components used for the accelerometer.double
getAcceleration()
Return the acceleration in Gs.void
initSendable(SendableBuilder builder)
Initializes thisSendable
object.void
setSensitivity(double sensitivity)
Set the accelerometer sensitivity.void
setZero(double zero)
Set the voltage that corresponds to 0 G.
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Constructor Detail
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AnalogAccelerometer
public AnalogAccelerometer(int channel)
Create a new instance of an accelerometer.The constructor allocates desired analog channel.
- Parameters:
channel
- The channel number for the analog input the accelerometer is connected to
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AnalogAccelerometer
public AnalogAccelerometer(AnalogInput 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
- The existing AnalogInput object for the analog input the accelerometer is connected to
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Method Detail
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close
public void close()
Delete the analog components used for the accelerometer.- Specified by:
close
in interfaceAutoCloseable
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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.
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setSensitivity
public void setSensitivity(double sensitivity)
Set the accelerometer sensitivity.This sets the sensitivity of the accelerometer used for calculating the acceleration. The sensitivity varies by accelerometer model. There are constants defined for various models.
- Parameters:
sensitivity
- The sensitivity of accelerometer in Volts per G.
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setZero
public void setZero(double zero)
Set the voltage that corresponds to 0 G.The zero G voltage varies by accelerometer model. There are constants defined for various models.
- Parameters:
zero
- The zero G voltage.
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initSendable
public void initSendable(SendableBuilder builder)
Description copied from interface:Sendable
Initializes thisSendable
object.- Specified by:
initSendable
in interfaceSendable
- Parameters:
builder
- sendable builder
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