def __init__(self, port=None):
"""
Constructor.
:param port: The SPI port that the gyro is connected to
:type port: :class:`.SPI.Port`
"""
super().__init__()
if port is None:
port = SPI.Port.kOnboardCS0
simPort = None
if hal.HALIsSimulation():
from hal_impl.spi_helpers import ADXRS450_Gyro_Sim
simPort = ADXRS450_Gyro_Sim(self)
self.spi = SPI(port, simPort=simPort)
self.spi.setClockRate(3000000)
self.spi.setMSBFirst()
self.spi.setSampleDataOnLeadingEdge()
self.spi.setClockActiveHigh()
self.spi.setChipSelectActiveLow()
# Validate the part ID
if (self._readRegister(self.kPIDRegister) & 0xFF00) != 0x5200:
self.spi.close()
self.spi = None
DriverStation.reportError(
"could not find ADXRS450 gyro on SPI port %s" % port, False)
return
# python-specific: make this easier to simulate
if hal.isSimulation():
self.spi.initAccumulator(self.kSamplePeriod, 0x20000000, 4, 0x0,
0x0, 0, 32, True, True)
else:
self.spi.initAccumulator(
self.kSamplePeriod,
0x20000000,
4,
0x0C00000E,
0x04000000,
10,
16,
True,
True,
)
self.calibrate()
hal.report(hal.UsageReporting.kResourceType_ADXRS450, port)
self.setName("ADXRS450_Gyro", port)
def __init__(self, port=None):
"""
Constructor.
:param port: The SPI port that the gyro is connected to
:type port: :class:`.SPI.Port`
"""
if port is None:
port = SPI.Port.kOnboardCS0
simPort = None
if hal.HALIsSimulation():
from hal_impl.spi_helpers import ADXRS450_Gyro_Sim
simPort = ADXRS450_Gyro_Sim(self)
self.spi = SPI(port, simPort=simPort)
self.spi.setClockRate(3000000)
self.spi.setMSBFirst()
self.spi.setSampleDataOnRising()
self.spi.setClockActiveHigh()
self.spi.setChipSelectActiveLow()
# Validate the part ID
if (self._readRegister(self.kPIDRegister) & 0xff00) != 0x5200:
self.spi.free()
self.spi = None
DriverStation.reportError(
"could not find ADXRS450 gyro on SPI port %s" % port, False)
return
self.spi.initAccumulator(self.kSamplePeriod, 0x20000000, 4, 0x0c00000e,
0x04000000, 10, 16, True, True)
self.calibrate()
hal.report(hal.UsageReporting.kResourceType_ADXRS450, port)
LiveWindow.addSensor("ADXRS450_Gyro", port, self)