ADXL345_SPI

class wpilib.ADXL345_SPI(port, range)[source]

Bases: wpilib.SensorBase

ADXL345 accelerometer device via spi

Constructor. Use this when the device is the first/only device on the bus

Parameters:
  • port (SPI.Port) – The SPI port that the accelerometer is connected to
  • range (ADXL345_SPI.Range) – The range (+ or -) that the accelerometer will measure.
class Axes[source]

Bases: object

kX = 0
kY = 2
kZ = 4
class ADXL345_SPI.Range

Bases: object

k16G = 3
k2G = 0
k4G = 1
k8G = 2
ADXL345_SPI.free()[source]
ADXL345_SPI.getAcceleration(axis)[source]

Get the acceleration of one axis in Gs.

Parameters:axis – The axis to read from.
Returns:An object containing the acceleration measured on each axis of the ADXL345 in Gs.
ADXL345_SPI.getAccelerations()[source]

Get the acceleration of all axes in Gs.

Returns:X,Y,Z tuple of acceleration measured on all axes of the ADXL345 in Gs.
ADXL345_SPI.getX()[source]

Get the x axis acceleration

Returns:The acceleration along the x axis in g-forces
ADXL345_SPI.getY()[source]

Get the y axis acceleration

Returns:The acceleration along the y axis in g-forces
ADXL345_SPI.getZ()[source]

Get the z axis acceleration

Returns:The acceleration along the z axis in g-forces
ADXL345_SPI.kAddress_MultiByte = 64
ADXL345_SPI.kAddress_Read = 128
ADXL345_SPI.kDataFormatRegister = 49
ADXL345_SPI.kDataFormat_FullRes = 8
ADXL345_SPI.kDataFormat_IntInvert = 32
ADXL345_SPI.kDataFormat_Justify = 4
ADXL345_SPI.kDataFormat_SPI = 64
ADXL345_SPI.kDataFormat_SelfTest = 128
ADXL345_SPI.kDataRegister = 50
ADXL345_SPI.kGsPerLSB = 0.00390625
ADXL345_SPI.kPowerCtlRegister = 45
ADXL345_SPI.kPowerCtl_AutoSleep = 16
ADXL345_SPI.kPowerCtl_Measure = 8
ADXL345_SPI.kPowerCtl_Sleep = 4
ADXL345_SPI.setRange(range)[source]

Set the measuring range of the accelerometer.

Parameters:range (ADXL345_SPI.Range) – The maximum acceleration, positive or negative, that the accelerometer will measure.