/// <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>
/// 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);
}