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first:adis16470_imu_frc:java [16 Jan 2019 17:04] – Update install instructions for 2019 and VS Code Kristen Chong | first:adis16470_imu_frc:java [31 Jan 2020 01:54] (current) – clarify when calibrate can be run Kristen Chong | ||
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===== 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. |
- | ==== Online Install ==== | + | |
- | - Open FRC Visual Studio Code | + | |
- | - Click the WPILib command pallete icon | + | |
- | - Select " | + | |
- | - Choose " | + | |
- | - Paste the following link: http:// | + | |
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==== Offline Install ==== | ==== Offline Install ==== | ||
- Download the latest release zip from [[https:// | - Download the latest release zip from [[https:// | ||
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- | 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(); | ||
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===== 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 after the robot start moving! 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. | ||
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===== 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' |
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