ADIS16470_IMU¶

class wpilib.ADIS16470_IMU(*args, **kwargs)¶

Bases: NTSendable

Overloaded function.

__init__(self: wpilib._wpilib.ADIS16470_IMU) -> None

Default constructor. Uses CS0 on the 10-pin SPI port, the yaw axis is set to the IMU Z axis, and calibration time is defaulted to 4 seconds.

__init__(self: wpilib._wpilib.ADIS16470_IMU, yaw_axis: wpilib._wpilib.ADIS16470_IMU.IMUAxis, port: wpilib._wpilib.SPI.Port, cal_time: wpilib._wpilib.ADIS16470_IMU.CalibrationTime) -> None

Customizable constructor. Allows the SPI port and CS to be customized, the yaw axis used for GetAngle() is adjustable, and initial calibration time can be modified.

Parameters:

yaw_axis – Selects the “default” axis to use for GetAngle() and GetRate()
port – The SPI port and CS where the IMU is connected.
cal_time – The calibration time that should be used on start-up.

class CalibrationTime(value: int)¶

Bases: 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_object

Members:

kX

kY

kZ

kX = <IMUAxis.kX: 0>¶

kY = <IMUAxis.kY: 1>¶

kZ = <IMUAxis.kZ: 2>¶

property name¶

property value¶

calibrate() → None¶: Switches the active SPI port to standard SPI mode, writes the command to activate the new null configuration, and re-enables auto SPI.

configCalTime(new_cal_time: wpilib._wpilib.ADIS16470_IMU.CalibrationTime) → int¶: Switches the active SPI port to standard SPI mode, writes a new value to the NULL_CNFG register in the IMU, and re-enables auto SPI.

configDecRate(reg: 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).

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).

getXComplementaryAngle() → degrees¶

getXFilteredAccelAngle() → degrees¶

getYComplementaryAngle() → degrees¶

getYFilteredAccelAngle() → degrees¶

getYawAxis() → wpilib._wpilib.ADIS16470_IMU.IMUAxis¶

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

isConnected() → bool¶

property m_yaw_axis¶

reset() → None¶

Resets (zeros) the xgyro, ygyro, and zgyro angle integrations.

Resets the gyro accumulations to a heading of zero. This can be used if the “zero” orientation of the sensor needs to be changed in runtime.

setYawAxis(yaw_axis: wpilib._wpilib.ADIS16470_IMU.IMUAxis) → int¶