The ADIS16448 IMU board is ADI's rugged, tactical IMU designed for use in a wide variety of applications, including industrial robots, smart agriculture, and autonomous vehicles. The ADIS16448 is a 10 degree-of-freedom IMU, with 3-axis gyro, 3-axis accelerometer, 3-axis magnetometer, and a barometer.
ADIS16448 software and examples for Java, C+ +, and LabVIEW can be found here. If your team wants to use this board with other programming languages, please refer to the ADIS16448 product datasheet for more information on how to communicate with this IMU via SPI.
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The ADIS16448 IMU Board is designed to plug directly into the MXP port on the RoboRIO. Due to the size of typical FRC robots, AHRS calculations that rely on the magnetometer may be adversely affected by motors and metal objects close to the sensor. The IMU board has two mounting holes which should be used to secure it to the RoboRIO with #4-40 screws. The figure to the right illustrates the X, Y, and Z axis relative to the device package. Note that the IMU is installed on the board upside down compared to the image shown here.
To help the robot minimize start-up drift and improve overall sensor performance, an offset calibration function has been built into the IMU driver. This function captures several seconds worth of data and calculates an average offset which is then applied to the sensor outputs. By default, calibration is automatically started once the RoboRIO begins executing user code and usually takes about 10 seconds to complete. If your IMU board has a “Ready?” LED indicator, it will illuminate once calibration is complete.