This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revisionLast revisionBoth sides next revision | ||
first:adis16470_imu_frc:java [26 Dec 2018 03:23] – add github link Kristen Chong | first:adis16470_imu_frc:java [11 Jan 2020 04:40] – updated for 2020 and fixed incorrect MXP port references Kristen Chong | ||
---|---|---|---|
Line 7: | Line 7: | ||
\\ | \\ | ||
===== Installing the Library ===== | ===== Installing the Library ===== | ||
- | In order to use the IMU, you will need to download and install the appropriate library. | + | In order to use the IMU, you will need to download and install the appropriate library. |
- | ==== Gradle | + | |
- | Since this library depends on the WPI library, **we strongly recommend any teams using Gradle to use [[https:// | + | ==== Offline |
- | < | + | - Download |
- | maven { url ' | + | - Close all instances of FRC Visual Studio Code |
- | </ | + | - If using Windows, extract the zip you downloaded to C:\Users\Public\frc2019. If using Linux or Mac, extract |
- | Then, add the following code line to your dependencies block. This will always | + | |
- | < | + | |
- | compile ' | + | - Select " |
- | </ | + | - Choose " |
- | [[https:// | + | - Check ADIS16470, then click " |
- | \\ | + | |
- | \\ | + | |
- | ==== Manual Install ==== | + | |
- | To install the driver manually, just add the com/ | + | |
\\ | \\ | ||
\\ | \\ | ||
Line 28: | Line 24: | ||
\\ | \\ | ||
\\ | \\ | ||
- | Because the IMU plugs directly into the MXP port, the library will pre-define your SPI port for you. IMU is a 3-axis sensor, so you will need to tell it which axis is the yaw axis. By default, this will be the Z axis if you don't define anything (this would be with the RoboRIO and the sensor sitting flat on or in the robot, facing up). Don't worry about defining an algorithm argument, the library will take care of this for you. A typical definition and instantiation will look like this: | + | Because the IMU plugs directly into the SPI port, the library will pre-define your SPI port for you. IMU is a 3-axis sensor, so you will need to tell it which axis is the yaw axis. By default, this will be the Z axis if you don't define anything (this would be with the RoboRIO and the sensor sitting flat on or in the robot, facing up). Don't worry about defining an algorithm argument, the library will take care of this for you. A typical definition and instantiation will look like this: |
< | < | ||
public static final ADIS16470_IMU imu = new ADIS16470_IMU(); | public static final ADIS16470_IMU imu = new ADIS16470_IMU(); | ||
Line 34: | Line 30: | ||
\\ | \\ | ||
===== Sensor Initialization/ | ===== Sensor Initialization/ | ||
- | The IMU library will perform a calibration for you in its constructor, | + | The IMU library will perform a calibration for you in its constructor, |
+ | |||
+ | New for 2020, the calibrate() function now happens immediately when called. The ADIS16470 has an internal accumulation measurement which is applied as the new offset calibration value when calibrate() is called. Because of this, you should never run this command after the robot has started to move and should never be called during match play! This function is ideal for situations where the robot was powered on while moving during the initial calibration or if your robot has been sitting for a long time waiting for a match to start. | ||
\\ | \\ | ||
\\ | \\ | ||
===== Using getAngle() and getRate() ===== | ===== Using getAngle() and getRate() ===== | ||
- | Now that your gyro is calibrated when the robot turns on, you can access data from the robot in your code. You can do this using the getAngle() method to obtain the robot' | + | Now that your gyro is calibrated when the robot turns on, you can access data from the robot in your code. You can do this using the getAngle() method to obtain the robot' |
\\ | \\ | ||
\\ | \\ |