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first:adis16470_imu_frc:java [11 Jan 2020 04:40] – updated for 2020 and fixed incorrect MXP port references Kristen Chongfirst:adis16470_imu_frc:java [31 Jan 2020 01:54] (current) – clarify when calibrate can be run Kristen Chong
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 The IMU library will perform a calibration for you in its constructor, since this calibration MUST be performed in order for the IMU to function properly. The calibration inside of the constructor takes 4 seconds long by default, but you can change this by using the configCalTime() function. If you want to re-calibrate at some point in your code, you can call the calibrate() function. For more general information about offset calibration, please see the [[first:adis16470_imu_frc|general ADIS16470]] IMU page. The IMU library will perform a calibration for you in its constructor, since this calibration MUST be performed in order for the IMU to function properly. The calibration inside of the constructor takes 4 seconds long by default, but you can change this by using the configCalTime() function. If you want to re-calibrate at some point in your code, you can call the calibrate() function. For more general information about offset calibration, please see the [[first:adis16470_imu_frc|general ADIS16470]] IMU page.
  
-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.+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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first/adis16470_imu_frc/java.1578714032.txt.gz · Last modified: 11 Jan 2020 04:40 by Kristen Chong

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