ADXL345_I2C

class wpilib.ADXL345_I2C(port, range, address=None)[source]

Bases: wpilib.SensorBase

ADXL345 accelerometer device via i2c

Constructor.

Parameters:
  • port (I2C.Port) – The I2C port the accelerometer is attached to.
  • range (ADXL345_I2C.Range) – The range (+ or -) that the accelerometer will measure.
  • address – the I2C address of the accelerometer (0x1D or 0x53)
class Axes[source]

Bases: object

kX = 0
kY = 2
kZ = 4
class Range

Bases: object

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

Get the x axis acceleration

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

Get the y axis acceleration

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

Get the z axis acceleration

Returns:The acceleration along the z axis in g-forces
initSendable(builder)[source]
kAddress = 29
kDataFormatRegister = 49
kDataFormat_FullRes = 8
kDataFormat_IntInvert = 32
kDataFormat_Justify = 4
kDataFormat_SPI = 64
kDataFormat_SelfTest = 128
kDataRegister = 50
kGsPerLSB = 0.00390625
kPowerCtlRegister = 45
kPowerCtl_AutoSleep = 16
kPowerCtl_Measure = 8
kPowerCtl_Sleep = 4
setRange(range)[source]

Set the measuring range of the accelerometer.

Parameters:range (ADXL345_I2C.Range) – The maximum acceleration, positive or negative, that the accelerometer will measure.