Class ADXL345_I2C

java.lang.Object

org.wpilib.hardware.accelerometer.ADXL345_I2C

All Implemented Interfaces:

AutoCloseable, TelemetryLoggable

public class ADXL345_I2C
extends Object
implements TelemetryLoggable, AutoCloseable

ADXL345 I2C Accelerometer.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	ADXL345_I2C.AllAxes	Container type for accelerations from all axes.
static enum	ADXL345_I2C.Axis	Accelerometer axes.

Field Summary

Fields

Modifier and Type	Field	Description
static final byte	DEFAULT_ADDRESS	Default I2C device address.

Constructor Summary

Constructors

Constructor	Description
ADXL345_I2C(I2C.Port port, int range)	Constructs the ADXL345 Accelerometer with I2C address 0x1D.
ADXL345_I2C(I2C.Port port, int range, int deviceAddress)	Constructs the ADXL345 Accelerometer over I2C.

Method Summary

Modifier and Type	Method	Description
void	close()
double	getAcceleration(ADXL345_I2C.Axis axis)	Get the acceleration of one axis in Gs.
ADXL345_I2C.AllAxes	getAccelerations()	Get the acceleration of all axes in Gs.
int	getDeviceAddress()	Returns the I2C device address.
I2C.Port	getPort()	Returns the I2C port.
String	getTelemetryType()	Gets the telemetry table type.
double	getX()	Returns the acceleration along the X axis in g-forces.
double	getY()	Returns the acceleration along the Y axis in g-forces.
double	getZ()	Returns the acceleration along the Z axis in g-forces.
void	logTo(TelemetryTable table)	Logs the object to a TelemetryTable.
final void	setRange(int range)	Set the measuring range of the accelerometer.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

DEFAULT_ADDRESS

public static final byte DEFAULT_ADDRESS

Default I2C device address.

See Also:

• Constant Field Values

Constructor Details

ADXL345_I2C

public ADXL345_I2C(I2C.Port port,
 int range)

Constructs the ADXL345 Accelerometer with I2C address 0x1D.

Parameters:

port - The I2C port the accelerometer is attached to

range - The range (+ or -) that the accelerometer will measure. Valid values are 2, 4, 8, or 16 Gs.

ADXL345_I2C

public ADXL345_I2C(I2C.Port port,
 int range,
 int deviceAddress)

Constructs the ADXL345 Accelerometer over I2C.

Parameters:

port - The I2C port the accelerometer is attached to

range - The range (+ or -) that the accelerometer will measure. Valid values are 2, 4, 8, or 16 Gs.

deviceAddress - I2C address of the accelerometer (0x1D or 0x53)

Method Details

getPort

public I2C.Port getPort()

Returns the I2C port.

Returns:

The I2C port.

getDeviceAddress

public int getDeviceAddress()

Returns the I2C device address.

Returns:

The I2C device address.

close

public void close()

Specified by:

close in interface AutoCloseable

setRange

public final void setRange(int range)

Set the measuring range of the accelerometer.

Parameters:

range - The maximum acceleration, positive or negative, that the accelerometer will measure. Valid values are 2, 4, 8, or 16 Gs.

getX

public double getX()

Returns the acceleration along the X axis in g-forces.

Returns:

The acceleration along the X axis in g-forces.

getY

public double getY()

Returns the acceleration along the Y axis in g-forces.

Returns:

The acceleration along the Y axis in g-forces.

getZ

public double getZ()

Returns the acceleration along the Z axis in g-forces.

Returns:

The acceleration along the Z axis in g-forces.

getAcceleration

public double getAcceleration(ADXL345_I2C.Axis axis)

Get the acceleration of one axis in Gs.

Parameters:

axis - The axis to read from.

Returns:

Acceleration of the ADXL345 in Gs.

getAccelerations

public ADXL345_I2C.AllAxes getAccelerations()

Get the acceleration of all axes in Gs.

Returns:

An object containing the acceleration measured on each axis of the ADXL345 in Gs.

logTo

public void logTo(TelemetryTable table)

Description copied from interface: TelemetryLoggable

Logs the object to a TelemetryTable.

Specified by:

logTo in interface TelemetryLoggable

Parameters:

table - telemetry table

getTelemetryType

public String getTelemetryType()

Description copied from interface: TelemetryLoggable

Gets the telemetry table type. Default is no specified table type (null). A mismatch in type during logging results in a reported warning, so this should always return the same value.

Specified by:

getTelemetryType in interface TelemetryLoggable

Returns:

Table type