/// <summary>
/// Creates a new <see cref="ADXL362"/> with the specified <see cref="SPI.Port">Port</see>
/// and <see cref="AccelerometerRange">Range</see>.
/// </summary>
/// <param name="port">The SPI Port the accelerometer is connected to.</param>
/// <param name="range">The range that the accelerometer will measure.</param>
public ADXL362(SPI.Port port, AccelerometerRange range)
{
m_spi = new SPI(port);
m_spi.SetClockRate(3000000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnRising();
m_spi.SetClockActiveHigh();
m_spi.SetChipSelectActiveLow();
byte[] commands = new byte[]
{
RegRead,
PartIdRegister,
0,
};
m_spi.Transaction(commands, commands, 3);
if (commands[2] != 0xF2)
{
DriverStation.ReportError("Could not find ADXL362", false);
m_gsPerLSB = 0.0;
return;
}
AccelerometerRange = range;
commands[0] = RegWrite;
commands[1] = PowerCtlRegister;
commands[2] = PowerCtlRegister | PowerCtl_UltraLowNoise;
m_spi.Write(commands, 3);
Report(ResourceType.kResourceType_ADXL362, (byte)port);
LiveWindow.LiveWindow.AddSensor("ADXL362", port.ToString(), this);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="port">The <see cref="SPI.Port"/> that the gyro is connected to.</param>
public ADXRS450_Gyro(SPI.Port port)
{
m_spi = new SPI(port);
if (RobotBase.IsSimulation)
{
m_spi.InitAccumulator(SamplePeriod, 0x20000000, 4, 0x0c000000, 0x04000000,
10, 16, true, true);
m_spi.ResetAccumulator();
return;
}
m_spi.SetClockRate(3000000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnRising();
m_spi.SetClockActiveHigh();
m_spi.SetChipSelectActiveLow();
// Validate the part ID
if ((ReadRegister(PIDRegister) & 0xff00) != 0x5200)
{
m_spi.Dispose();
m_spi = null;
DriverStation.ReportError("could not find ADXRS450 gyro on SPI port " + port.ToString(), false);
return;
}
m_spi.InitAccumulator(SamplePeriod, 0x20000000, 4, 0x0c000000, 0x04000000,
10, 16, true, true);
Calibrate();
Report(ResourceType.kResourceType_ADXRS450, (byte)port);
LiveWindow.LiveWindow.AddSensor("ADXRS450_Gyro", port.ToString(), this);
}
/// <summary>
/// Initializes the NavX singleton
/// </summary>
/// <param name="spiPortId">port that the NavX is plugged into</param>
/// <param name="spiBitrate">sets the bitrate for NavX comms</param>
/// <param name="updateRateHz">the update rate of the NavX - default 50Hz</param>
internal static NavX InitializeNavX(SPI.Port spiPortId, int spiBitrate, byte updateRateHz = 50)
{
if (_lazy != null)
{
Report.Error(
@"A NavX instance already been created, someone other than Config is trying to create an instance.");
}
_lazy = new Lazy <NavX>(() => new NavX(spiPortId, spiBitrate, updateRateHz));
return(Instance);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="port">The SPI port the accelerometer is attached to</param>
/// <param name="range">The range (+ or -) that the accelerometer will measure.</param>
public ADXL345_SPI(SPI.Port port, AccelerometerRange range)
{
m_spi = new SPI(port);
m_spi.SetClockRate(500000);
m_spi.SetSampleDataOnFalling();
m_spi.SetClockActiveLow();
m_spi.SetChipSelectActiveHigh();
byte[] commands = new byte[2];
commands[0] = PowerCtlRegister;
commands[1] = (byte)PowerCtl.Measure;
m_spi.Write(commands, 2);
AccelerometerRange = range;
HAL.Base.HAL.Report(ResourceType.kResourceType_ADXL345, Instances.kADXL345_SPI);
LiveWindow.LiveWindow.AddSensor("ADXL345_SPI", (byte)port, this);
}
private NavX(SPI.Port spiPortId, int spiBitrate, byte updateRateHz = 50)
: base(spiPortId, spiBitrate, updateRateHz)
{
}
private NavX(SPI.Port spiPortId, byte updateRateHz = 50) : base(spiPortId, updateRateHz)
{
}