edu.wpi.first.wpilibj.interfaces.Accelerometer的实例源码

项目：2016Robot    文件：AccelerometerSampling.java   

public void update(){

    // Shift all of the values to the left once
    for (int i = 0; i < numberOfSamples - 1; i++) {
        xValues[i] = xValues[i + 1];
        yValues[i] = yValues[i + 1];
        zValues[i] = zValues[i + 1];
    }

    // Update all of the values with accelerometer
    xValues[numberOfSamples - 1] = this.getX();
    yValues[numberOfSamples - 1] = this.getY();
    zValues[numberOfSamples - 1] = this.getZ();

    // If all of the latest values are 0,then the accelerometer crashed. disablePID and stop the  shooter aim motor,then try to re-initialize it.
    if (xValues[numberOfSamples - 1] == 0 && yValues[numberOfSamples - 1] == 0 && zValues[numberOfSamples - 1] == 0) {

        Robot.shooteraim.disablePID();
        Robot.shooteraim.manualaim(0);

        accelerometer = new ADXL345_I2C(I2C.Port.kOnboard,Accelerometer.Range.k4G);

    }

}

项目：2015-frc-robot    文件：SensorInput.java   

/**
 * Instantiates the Sensor Input module to read all sensors connected to the roboRIO.
 */
private Sensorinput() { 
    limit_left = new DigitalInput(ChiliConstants.left_limit);
    limit_right = new DigitalInput(ChiliConstants.right_limit);
    accel = new BuiltInAccelerometer(Accelerometer.Range.k2G);
    gyro = new Gyro(ChiliConstants.gyro_channel);
    pdp = new PowerdistributionPanel();
    left_encoder = new Encoder(ChiliConstants.left_encoder_channelA,ChiliConstants.left_encoder_channelB,false);
    right_encoder = new Encoder(ChiliConstants.right_encoder_channelA,ChiliConstants.right_encoder_channelB,true);
    gyro_i2c = new GyroITG3200(I2C.Port.kOnboard);

    gyro_i2c.initialize();
    gyro_i2c.reset();
    gyro.initGyro();

    left_encoder.setdistancePerpulse(ChiliConstants.kdistancePerpulse);
    right_encoder.setdistancePerpulse(ChiliConstants.kdistancePerpulse);
}

项目：snobot-2017    文件：Positioner.java   

/**
 * Creates a new Positioner object.
 * 
 * @param aGyro
 *            The Gyro to use.
 * @param aDriveTrain
 *            The DriveTrain to use.
 * @param aLogger
 *            The robot's Logger.
 * @param aAccelerometer
 *            The robot's accelerometer
 */
public Positioner(Gyro aGyro,IDriveTrain aDriveTrain,Logger aLogger,Accelerometer aAccelerometer)
{
    mXPosition = 0;
    mYPosition = 0;
    mOrientation = 0;
    mTotaldistance = 0;
    mLastdistance = 0;
    mLastTime = 0;
    mSpeed = 0;
    mGyro = aGyro;
    mDriveTrain = aDriveTrain;
    mTimer = new Timer();
    mLogger = aLogger;
    mStartAngle = 0;

    mVeLocityX = 0;
    mVeLocityY = 0;

    mAccelerometer = aAccelerometer;
    mErrorX = 0;
    mErrorY = 0;
    mErrorZ = 0;

    // Todo Get rid of these when done testing
    encoderXVeLocity = 0;
    encoderYVeLocity = 0;
    accelXVeLocity = 0;
    accelYVeLocity = 0;
    avgFiltXVeLocity = 0;
    avgFiltYVeLocity = 0;
    compFiltXVeLocity = 0;
    compFiltYVeLocity = 0;
    mAvgFiltXPos = 0;
    mAvgFiltYPos = 0;
    mCompFiltXPos = 0;
    mCompFiltYPos = 0;

    isFirstTime = true;
}

项目：FRC-2015cb    文件：RobotMap.java   

public static void init() {
    // BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveTrainFrontLeftMotor = new Jaguar(2);
    LiveWindow.addActuator("DriveTrain","FrontLeftMotor",(Jaguar) driveTrainFrontLeftMotor);

    driveTrainRearLeftMotor = new Jaguar(3);
    LiveWindow.addActuator("DriveTrain","RearLeftMotor",(Jaguar) driveTrainRearLeftMotor);

    driveTrainFrontRightMotor = new Jaguar(1);
    LiveWindow.addActuator("DriveTrain","FrontRightMotor",(Jaguar) driveTrainFrontRightMotor);

    driveTrainRearRightMotor = new Jaguar(0);
    LiveWindow.addActuator("DriveTrain","RearRightMotor",(Jaguar) driveTrainRearRightMotor);

    /*driveTrainRearLeftPID = new PIDSpeedController(backLeftEncoder,driveTrainRearLeftMotor,"Drive","Back Left");
    LiveWindow.addActuator("DriveTrain","RearLeftPID",(Jaguar) driveTrainRearLeftMotor);

    driveTrainRearRightMotor = new PIDSpeedController(backRightEncoder,driveTrainRearRightMotor,"Back Right");
    LiveWindow.addActuator("DriveTrain","RearRightPID",(Jaguar) driveTrainRearRightMotor);*/

    driveTrainrobotDrive = new RobotDrive(driveTrainFrontLeftMotor,driveTrainFrontRightMotor,driveTrainRearRightMotor);

    driveTrainrobotDrive.setSafetyEnabled(true);
    driveTrainrobotDrive.setExpiration(0.1);
    driveTrainrobotDrive.setSensitivity(0.3);
    driveTrainrobotDrive.setMaxOutput(1.0);
    driveTrainrobotDrive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft,true);
    driveTrainrobotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft,true);

    accel = new BuiltInAccelerometer();
    accel = new BuiltInAccelerometer(Accelerometer.Range.k4G);
    LiveWindow.addSensor("DriveTrain","Accelerometer",(LiveWindowSendable) accel); 

    gyro = new Gyro(0);
    LiveWindow.addSensor("DriveTrain","Gyro",(LiveWindowSendable) gyro); 

    liftMotor = new Talon(4);
    LiveWindow.addActuator("Lift","Lift Motor",(Talon) liftMotor);

    topLimit = new DigitalInput(8);
    LiveWindow.addSensor("Lift","Upper Limit Switch",topLimit);
    bottomLimit = new DigitalInput(9);
    LiveWindow.addSensor("Lift","Lower Limit Switch",bottomLimit);

    toteInRobot = new DigitalInput(4);
    LiveWindow.addSensor("Lift","Tote In Robot",toteInRobot);
    lotOfTotes = new DigitalInput(5);
    LiveWindow.addSensor("Lift","5 Totes in Robot",lotOfTotes);

    liftEncoder = new Encoder(6,7);
    LiveWindow.addSensor("Lift","Lift Encoder",liftEncoder);
    backLeftEncoder = new Encoder(2,3);
    LiveWindow.addSensor("Lift","Back Left Encoder",backLeftEncoder);
    backRightEncoder = new Encoder(0,1);
    LiveWindow.addSensor("Lift","Back Right Encoder",backRightEncoder);

    leftPicker = new Talon(5);
    LiveWindow.addActuator("Pickers","Left Picker",(Talon) leftPicker);
    rightPicker = new Talon(6);
    LiveWindow.addActuator("Pickers","Right Picker",(Talon) rightPicker);

    compressor = new Compressor(0);
    LiveWindow.addActuator("Lift","Compressor",compressor);
    dogs = new Solenoid(0);
    LiveWindow.addActuator("Lift","Dogs",dogs);
    pusher = new Solenoid(1);
    LiveWindow.addActuator("Lift","Pusher",pusher);
    flipper = new Solenoid(2);
    LiveWindow.addActuator("Lift","Flipper",flipper);

    thatArmThatOpensToReleaseStacks = new Solenoid(3);
    LiveWindow.addActuator("Lift","Stack Arm",thatArmThatOpensToReleaseStacks);

}

项目：snobot-2017    文件：IMUPositioner.java   

/**
 * Creates a new Positioner object.
 * 
 * @param aGyro
 *            The Gyro to use.
 * @param aAccelerometer
 *            The accelerometer to use.
 * @param aDriveTrain
 *            The DriveTrain to use.
 * @param aLogger
 *            The robot's Logger.
 */
public IMUPositioner(Gyro aGyro,Accelerometer aAccelerometer,Logger aLogger)
{
    mGyro = aGyro;
    mAccelerometer = aAccelerometer;
    mDriveTrain = aDriveTrain;
    mLogger = aLogger;
    mTimer = new Timer();
}