Package edu.wpi.first.wpilibj
Class ADXL345_SPI
- java.lang.Object
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- edu.wpi.first.wpilibj.ADXL345_SPI
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- All Implemented Interfaces:
NTSendable
,Sendable
,Accelerometer
,AutoCloseable
public class ADXL345_SPI extends Object implements Accelerometer, NTSendable, AutoCloseable
ADXL345 SPI Accelerometer.
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Nested Class Summary
Nested Classes Modifier and Type Class Description static class
ADXL345_SPI.AllAxes
static class
ADXL345_SPI.Axes
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Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj.interfaces.Accelerometer
Accelerometer.Range
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Constructor Summary
Constructors Constructor Description ADXL345_SPI(SPI.Port port, Accelerometer.Range range)
Constructor.
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Method Summary
All Methods Instance Methods Concrete Methods 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()
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
initSendable(NTSendableBuilder builder)
Initializes thisSendable
object.void
setRange(Accelerometer.Range range)
Common interface for setting the measuring range of an accelerometer.-
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Methods inherited from interface edu.wpi.first.networktables.NTSendable
initSendable
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Constructor Detail
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ADXL345_SPI
public ADXL345_SPI(SPI.Port port, Accelerometer.Range range)
Constructor.- Parameters:
port
- The SPI port that the accelerometer is connected torange
- The range (+ or -) that the accelerometer will measure.
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Method Detail
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getPort
public int getPort()
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close
public void close()
- Specified by:
close
in interfaceAutoCloseable
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setRange
public void setRange(Accelerometer.Range range)
Description copied from interface:Accelerometer
Common interface for setting the measuring range of an accelerometer.- Specified by:
setRange
in interfaceAccelerometer
- Parameters:
range
- The maximum acceleration, positive or negative, that the accelerometer will measure. Not all accelerometers support all ranges.
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getX
public double getX()
Description copied from interface:Accelerometer
Common interface for getting the x axis acceleration.- Specified by:
getX
in interfaceAccelerometer
- Returns:
- The acceleration along the x axis in g-forces
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getY
public double getY()
Description copied from interface:Accelerometer
Common interface for getting the y axis acceleration.- Specified by:
getY
in interfaceAccelerometer
- Returns:
- The acceleration along the y axis in g-forces
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getZ
public double getZ()
Description copied from interface:Accelerometer
Common interface for getting the z axis acceleration.- Specified by:
getZ
in interfaceAccelerometer
- Returns:
- The acceleration along the z axis in g-forces
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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.
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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.
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initSendable
public void initSendable(NTSendableBuilder builder)
Description copied from interface:NTSendable
Initializes thisSendable
object.- Specified by:
initSendable
in interfaceNTSendable
- Parameters:
builder
- sendable builder
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