Exemplo n.º 1
0
        /// <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);
        }
Exemplo n.º 2
0
        /// <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);
        }
Exemplo n.º 3
0
        /// <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);
        }
Exemplo n.º 4
0
        /// <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);
        }