ADIS16448_IMU

class wpilib.ADIS16448_IMU(*args, **kwargs)

Bases: _pyntcore._ntcore.NTSendable

Overloaded function.

  1. __init__(self: wpilib._wpilib.ADIS16448_IMU) -> None

IMU constructor on onboard MXP CS0, Z-up orientation, and complementary AHRS computation.

  1. __init__(self: wpilib._wpilib.ADIS16448_IMU, yaw_axis: wpilib._wpilib.ADIS16448_IMU.IMUAxis, port: wpilib._wpilib.SPI.Port, cal_time: wpilib._wpilib.ADIS16448_IMU.CalibrationTime) -> None

IMU constructor on the specified MXP port and orientation.

Parameters
  • yaw_axis – The axis where gravity is present. Valid options are kX, kY, and kZ

  • port – The SPI port where the IMU is connected.

  • cal_time – The calibration time that should be used on start-up.

class CalibrationTime(value: int)

Bases: pybind11_builtins.pybind11_object

Members:

_32ms

_64ms

_128ms

_256ms

_512ms

_1s

_2s

_4s

_8s

_16s

_32s

_64s

property name
property value
class IMUAxis(value: int)

Bases: pybind11_builtins.pybind11_object

Members:

kX

kY

kZ

kX = <IMUAxis.kX: 0>
kY = <IMUAxis.kY: 1>
kZ = <IMUAxis.kZ: 2>
property name
property value
calibrate() None

Initialize the IMU.

Perform gyro offset calibration by collecting data for a number of seconds and computing the center value. The center value is subtracted from subsequent measurements.

It’s important to make sure that the robot is not moving while the centering calculations are in progress, this is typically done when the robot is first turned on while it’s sitting at rest before the match starts.

The calibration routine can be triggered by the user during runtime.

configCalTime(new_cal_time: wpilib._wpilib.ADIS16448_IMU.CalibrationTime) int

Configures the calibration time used for the next calibrate.

Parameters

new_cal_time – The calibration time that should be used

configDecRate(DecimationRate: int) int
getAccelX() meters_per_second_squared

Returns the acceleration in the X axis.

getAccelY() meters_per_second_squared

Returns the acceleration in the Y axis.

getAccelZ() meters_per_second_squared

Returns the acceleration in the Z axis.

getAngle() degrees

Returns the yaw axis angle in degrees (CCW positive).

getBarometricPressure() pounds_per_square_inch
getGyroAngleX() degrees

Returns the accumulated gyro angle in the X axis.

getGyroAngleY() degrees

Returns the accumulated gyro angle in the Y axis.

getGyroAngleZ() degrees

Returns the accumulated gyro angle in the Z axis.

getGyroRateX() degrees_per_second

Returns the angular rate in the X axis.

getGyroRateY() degrees_per_second

Returns the angular rate in the Y axis.

getGyroRateZ() degrees_per_second

Returns the angular rate in the Z axis.

getMagneticFieldX() teslas
getMagneticFieldY() teslas
getMagneticFieldZ() teslas
getPort() int

Get the SPI port number.

Returns

The SPI port number.

getRate() degrees_per_second

Returns the yaw axis angular rate in degrees per second (CCW positive).

getTemperature() celsius
getXComplementaryAngle() degrees
getXFilteredAccelAngle() degrees
getYComplementaryAngle() degrees
getYFilteredAccelAngle() degrees
getYawAxis() wpilib._wpilib.ADIS16448_IMU.IMUAxis
initSendable(builder: _pyntcore._ntcore.NTSendableBuilder) None
reset() None

Reset the gyro.

Resets the gyro accumulations to a heading of zero. This can be used if there is significant drift in the gyro and it needs to be recalibrated after running.

setYawAxis(yaw_axis: wpilib._wpilib.ADIS16448_IMU.IMUAxis) int