/// <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>
/// 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);
}
public void TestSetRange(AccelerometerRange range)
{
m_accel.AccelerometerRange = range;
Assert.AreEqual(GetData().Range, (byte)range);
GetData().Active = false;
}
/// <summary>
/// Constructs a ADXL357 I2C device.
/// </summary>
/// <param name="i2CDevice">The I2C device used for communication.</param>
/// <param name="accelerometerRange">The sensitivity of the accelerometer.</param>
public Adxl357(I2cDevice i2CDevice, AccelerometerRange accelerometerRange = AccelerometerRange.Range10G)
{
_i2CDevice = i2CDevice ?? throw new ArgumentNullException(nameof(i2CDevice));
Reset();
AccelerometerRange = accelerometerRange;
PowerOn();
}
public BuiltInAccelerometer(AccelerometerRange range = AccelerometerRange.k8G)
{
Range = range;
}
public BuiltInAccelerometerTest(AccelerometerRange range)
{
m_accelerometer = new BuiltInAccelerometer(range);
}
public static void setAccelerometerRange(AccelerometerRange param0)
{
halData["accelerometer"]["range"] = (int)param0;
}
public BuiltInAccelerometerTest(AccelerometerRange range)
{
m_accelerometer = new BuiltInAccelerometer(range);
}
public static extern void setAccelerometerRange(AccelerometerRange param0);
public static void SetRange(AccelerometerRange range)
{
lowLevel.HAL_SetAccelerometerRange(range);
}
