The ADIS16470 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 ADIS16470 is a 10 degree-of-freedom IMU, with 3-axis gyro, 3-axis accelerometer, 3-axis magnetometer, and a barometer.
ADIS16470 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 ADIS16470 product datasheet for more information on how to communicate with this IMU via SPI.
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The ADIS16470 IMU Board is designed to plug directly into the SPI port on the RoboRIO. The IMU board has an extension with two mounting holes which should be used to secure it to the RoboRIO with #4-40 screws. The figure to the right illustrates the locations of the X, Y, and Z axes in relation to the device package.
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. The “Ready?” LED indicator will also illuminate once calibration is complete.