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This version (04 Jan 2019 23:08) was approved by TheFeminineEngineer.

ADIS16470 IMU Board for FIRST Robotics

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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Getting Started

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.

A Note on Offset Calibration

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.

The gyros used in the ADIS16470 measure angular rate, not angle! Any movement during the offset calibration routine will introduce some error into every sensor measurement! Over time, this error, will appear as “drift” in your angle measurement. It is VERY important that the robot remains completely stationary during this calibration period!


Offset calibration should be performed as soon as the robot is powered on to prevent the routine from interfering with any autonomous code execution. If your gyro angle readings are drifting drastically, clicking Restart Robot Code in the driver station will force the RoboRIO to re-execute the offset calibration routine. This should fix any drift issues caused by a bad offset measurement.


Using the ADIS16470 IMU on Your Robot

For more information on how to add IMU functionality to your robot code, select your team's programming language from the list below.

Using the ADIS16470 IMU in LabVIEW
Using the ADIS16470 IMU in C++
Using the ADIS16470IMU in Java

first/adis16470_imu_frc.txt · Last modified: 02 Jan 2019 19:43 by TheFeminineEngineer