Class AnalogAccelerometer

java.lang.Object

org.wpilib.hardware.accelerometer.AnalogAccelerometer

All Implemented Interfaces:

AutoCloseable, TelemetryLoggable

public class AnalogAccelerometer
extends Object
implements TelemetryLoggable, AutoCloseable

Handle operation of an analog accelerometer. The accelerometer reads acceleration directly through the sensor. Many sensors have multiple axis and can be treated as multiple devices. Each is calibrated by finding the center value over a period of time.

Constructor Summary

Constructors

Constructor	Description
AnalogAccelerometer(int channel)	Create a new instance of an accelerometer.
AnalogAccelerometer(AnalogInput channel)	Create a new instance of Accelerometer from an existing AnalogChannel.

Method Summary

Modifier and Type	Method	Description
void	close()	Delete the analog components used for the accelerometer.
double	getAcceleration()	Return the acceleration in Gs.
String	getTelemetryType()	Gets the telemetry table type.
void	logTo(TelemetryTable table)	Logs the object to a TelemetryTable.
void	setSensitivity(double sensitivity)	Set the accelerometer sensitivity.
void	setZero(double zero)	Set the voltage that corresponds to 0 G.

Methods inherited from class Object

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

Constructor Details

AnalogAccelerometer

public AnalogAccelerometer(int channel)

Create a new instance of an accelerometer.

The constructor allocates desired analog channel.

Parameters:

channel - The channel number for the analog input the accelerometer is connected to

AnalogAccelerometer

public AnalogAccelerometer(AnalogInput channel)

Create a new instance of Accelerometer from an existing AnalogChannel. Make a new instance of accelerometer given an AnalogChannel. This is particularly useful if the port is going to be read as an analog channel as well as through the Accelerometer class.

Parameters:

channel - The existing AnalogInput object for the analog input the accelerometer is connected to

Method Details

close

public void close()

Delete the analog components used for the accelerometer.

Specified by:

close in interface AutoCloseable

getAcceleration

public double getAcceleration()

Return the acceleration in Gs.

The acceleration is returned units of Gs.

Returns:

The current acceleration of the sensor in Gs.

setSensitivity

public void setSensitivity(double sensitivity)

Set the accelerometer sensitivity.

This sets the sensitivity of the accelerometer used for calculating the acceleration. The sensitivity varies by accelerometer model.

Parameters:

sensitivity - The sensitivity of accelerometer in Volts per G.

setZero

public void setZero(double zero)

Set the voltage that corresponds to 0 G.

The zero G voltage varies by accelerometer model.

Parameters:

zero - The zero G voltage.

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