ADIS16470_IMU¶
- class wpilib.ADIS16470_IMU(*args, **kwargs)¶
Bases:
NTSendable
Overloaded function.
__init__(self: wpilib._wpilib.ADIS16470_IMU) -> None
Default constructor. Uses CS0 on the 10-pin SPI port, the yaw axis is set to the IMU Z axis, and calibration time is defaulted to 4 seconds.
__init__(self: wpilib._wpilib.ADIS16470_IMU, yaw_axis: wpilib._wpilib.ADIS16470_IMU.IMUAxis, port: wpilib._wpilib.SPI.Port, cal_time: wpilib._wpilib.ADIS16470_IMU.CalibrationTime) -> None
Customizable constructor. Allows the SPI port and CS to be customized, the yaw axis used for GetAngle() is adjustable, and initial calibration time can be modified.
- Parameters:
yaw_axis – Selects the “default” axis to use for GetAngle() and GetRate()
port – The SPI port and CS where the IMU is connected.
cal_time – The calibration time that should be used on start-up.
- class CalibrationTime(value: int)¶
Bases:
pybind11_object
Members:
_32ms
_64ms
_128ms
_256ms
_512ms
_1s
_2s
_4s
_8s
_16s
_32s
_64s
- property name¶
- property value¶
- class IMUAxis(value: int)¶
Bases:
pybind11_object
Members:
kX
kY
kZ
- kX = <IMUAxis.kX: 0>¶
- kY = <IMUAxis.kY: 1>¶
- kZ = <IMUAxis.kZ: 2>¶
- property name¶
- property value¶
- calibrate() None ¶
Switches the active SPI port to standard SPI mode, writes the command to activate the new null configuration, and re-enables auto SPI.
- configCalTime(new_cal_time: wpilib._wpilib.ADIS16470_IMU.CalibrationTime) int ¶
Switches the active SPI port to standard SPI mode, writes a new value to the NULL_CNFG register in the IMU, and re-enables auto SPI.
- configDecRate(reg: int) int ¶
- getAccelX() meters_per_second_squared ¶
Returns the acceleration in the X axis.
- getAccelY() meters_per_second_squared ¶
Returns the acceleration in the Y axis.
- getAccelZ() meters_per_second_squared ¶
Returns the acceleration in the Z axis.
- getAngle() degrees ¶
Returns the yaw axis angle in degrees (CCW positive).
- getPort() int ¶
Get the SPI port number.
- Returns:
The SPI port number.
- getRate() degrees_per_second ¶
Returns the yaw axis angular rate in degrees per second (CCW positive).
- getXComplementaryAngle() degrees ¶
- getXFilteredAccelAngle() degrees ¶
- getYComplementaryAngle() degrees ¶
- getYFilteredAccelAngle() degrees ¶
- getYawAxis() wpilib._wpilib.ADIS16470_IMU.IMUAxis ¶
- initSendable(builder: ntcore._ntcore.NTSendableBuilder) None ¶
- isConnected() bool ¶
- property m_yaw_axis¶
- reset() None ¶
Resets (zeros) the xgyro, ygyro, and zgyro angle integrations.
Resets the gyro accumulations to a heading of zero. This can be used if the “zero” orientation of the sensor needs to be changed in runtime.
- setYawAxis(yaw_axis: wpilib._wpilib.ADIS16470_IMU.IMUAxis) int ¶