ADXL345_I2C

class wpilib.ADXL345_I2C(port: wpilib._wpilib.I2C.Port, range: wpilib._wpilib.ADXL345_I2C.Range = <Range.kRange_2G: 0>, deviceAddress: int = 29)

Bases: NTSendable

ADXL345 Accelerometer on I2C.

This class allows access to a Analog Devices ADXL345 3-axis accelerometer on an I2C bus. This class assumes the default (not alternate) sensor address of 0x1D (7-bit address).

The Onboard I2C port is subject to system lockups. See <a href=”https://docs.wpilib.org/en/stable/docs/yearly-overview/known-issues.html#onboard-i2c-causing-system-lockups”> WPILib Known Issues</a> page for details.

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

class AllAxes

Bases: pybind11_object

Container type for accelerations from all axes.

property XAxis → float: Acceleration along the X axis in g-forces.

property YAxis → float: Acceleration along the Y axis in g-forces.

property ZAxis → float: Acceleration along the Z axis in g-forces.

class Axes(value: int)

Bases: pybind11_object

Accelerometer axes.

Members:

kAxis_X : X axis.

kAxis_Y : Y axis.

kAxis_Z : Z axis.

kAxis_X = <Axes.kAxis_X: 0>

kAxis_Y = <Axes.kAxis_Y: 2>

kAxis_Z = <Axes.kAxis_Z: 4>

property name

property value

class Range(value: int)

Bases: pybind11_object

Accelerometer range.

Members:

kRange_2G : 2 Gs max.

kRange_4G : 4 Gs max.

kRange_8G : 8 Gs max.

kRange_16G : 16 Gs max.

kRange_16G = <Range.kRange_16G: 3>

kRange_2G = <Range.kRange_2G: 0>

kRange_4G = <Range.kRange_4G: 1>

kRange_8G = <Range.kRange_8G: 2>

property name

property value

getAcceleration(axis: wpilib._wpilib.ADXL345_I2C.Axes) → float

Get the acceleration of one axis in Gs.

Parameters:: axis – The axis to read from.
Returns:: Acceleration of the ADXL345 in Gs.

getAccelerations() → wpilib._wpilib.ADXL345_I2C.AllAxes

Get the acceleration of all axes in Gs.

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

getI2CDeviceAddress() → int

getI2CPort() → wpilib._wpilib.I2C.Port

getX() → float

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

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

getY() → float

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

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

getZ() → float

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

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

initSendable(builder: ntcore._ntcore.NTSendableBuilder) → None

kAddress = 29

setRange(range: wpilib._wpilib.ADXL345_I2C.Range) → None

Set the measuring range of the accelerometer.

Parameters:: range – The maximum acceleration, positive or negative, that the accelerometer will measure.