/// <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>
/// 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);
}
/// <inheritdoc/>
public override void Calibrate()
{
if (m_spi == null)
{
return;
}
Timer.Delay(1.0);
m_spi.SetAccumulatorCenter(0);
m_spi.ResetAccumulator();
Timer.Delay(CalibrationSampleTime);
m_spi.SetAccumulatorCenter((int)m_spi.GetAccumulatorAverage());
m_spi.ResetAccumulator();
}
