com.qualcomm.hardware.kauailabs

Class NavxMicroNavigationSensor

java.lang.Object

com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice<DEVICE_CLIENT>

com.qualcomm.robotcore.hardware.I2cDeviceSynchDeviceWithParameters<I2cDeviceSynch,NavxMicroNavigationSensor.Parameters>

com.qualcomm.hardware.kauailabs.NavxMicroNavigationSensor

All Implemented Interfaces:

Gyroscope, HardwareDevice, I2cAddrConfig, I2cAddressableDevice, IntegratingGyroscope, OrientationSensor, RobotArmingStateNotifier.Callback

@I2cDeviceType
 @DeviceProperties(name="@string/navx_micro_name",
                  description="@string/navx_micro_description",
                  xmlTag="KauaiLabsNavxMicro",
                  builtIn=true)
public class NavxMicroNavigationSensor
extends I2cDeviceSynchDeviceWithParameters<I2cDeviceSynch,NavxMicroNavigationSensor.Parameters>
implements Gyroscope, IntegratingGyroscope, I2cAddrConfig

NavxMicroNavigationSensor provides support for the Kauai Labs navX-Micro Robotics Navigation Sensor. This sensor contains an Invensense MPU-9250 integrated circuit.

See Also:

navX-Micro, Invensense MPU-9250

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	NavxMicroNavigationSensor.CalibrationStatus
static class	NavxMicroNavigationSensor.IntegrationControl
static class	NavxMicroNavigationSensor.OpStatus
static class	NavxMicroNavigationSensor.Parameters
static class	NavxMicroNavigationSensor.Register
static class	NavxMicroNavigationSensor.SelfTestStatus
static class	NavxMicroNavigationSensor.SensorStatus

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
static I2cAddr	ADDRESS_I2C_DEFAULT
protected float	gyroScaleFactor
protected static I2cDeviceSynch.ReadWindow	lowerWindow
int	NAVX_WRITE_COMMAND_BIT
protected static I2cDeviceSynch.ReadMode	readMode
protected static I2cDeviceSynch.ReadWindow	upperWindow

Fields inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDeviceWithParameters

parameters

Fields inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

deviceClient, deviceClientIsOwned, isInitialized

Constructor Summary

Constructors

Constructor and Description
NavxMicroNavigationSensor(I2cDeviceSynch deviceClient)

Method Summary

Modifier and Type	Method and Description
protected void	ensureReadWindow(I2cDeviceSynch.ReadWindow needed)
Orientation	getAngularOrientation(AxesReference reference, AxesOrder order, AngleUnit angleUnit) Returns the absolute orientation of the sensor as a set three angles.
java.util.Set<Axis>	getAngularOrientationAxes() Returns the axes on which the sensor measures angular orientation.
AngularVelocity	getAngularVelocity(AngleUnit unit) Returns the angular rotation rate across all the axes measured by the gyro.
java.util.Set<Axis>	getAngularVelocityAxes() Returns the axes on which the gyroscope measures angular velocity.
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
RobotUsbDevice.FirmwareVersion	getFirmwareVersion()
I2cAddr	getI2cAddress() Returns the I2C address currently in use to communicate with an I2C hardware device
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
protected boolean	internalInitialize(NavxMicroNavigationSensor.Parameters parameters) Actually attempts to carry out initialization with the indicated parameter block.
boolean	isCalibrating() Returns true if the sensor is currently performing automatic gyro/accelerometer calibration.
protected static I2cDeviceSynch.ReadWindow	newWindow(NavxMicroNavigationSensor.Register regFirst, NavxMicroNavigationSensor.Register regMax)
byte	read8(NavxMicroNavigationSensor.Register reg)
short	readShort(NavxMicroNavigationSensor.Register reg)
float	readSignedHundredthsFloat(NavxMicroNavigationSensor.Register reg)
TimestampedData	readTimeStamped(NavxMicroNavigationSensor.Register reg, int creg)
void	setI2cAddress(I2cAddr newAddress) Configures a new I2C address to use
protected void	setReadWindow()
protected float	shortToSignedHundredths(short value)
void	write8(NavxMicroNavigationSensor.Register reg, byte value)
void	writeShort(NavxMicroNavigationSensor.Register reg, short value)

Methods inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDeviceWithParameters

doInitialize, getParameters, initialize

Methods inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

close, disengage, engage, getConnectionInfo, getDeviceClient, getVersion, initialize, initializeIfNecessary, onModuleStateChange, registerArmingStateCallback, resetDeviceConfigurationForOpMode

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

NAVX_WRITE_COMMAND_BIT

public final int NAVX_WRITE_COMMAND_BIT

See Also:

Constant Field Values

readMode

protected static final I2cDeviceSynch.ReadMode readMode

lowerWindow

protected static final I2cDeviceSynch.ReadWindow lowerWindow

upperWindow

protected static final I2cDeviceSynch.ReadWindow upperWindow

gyroScaleFactor

protected float gyroScaleFactor

ADDRESS_I2C_DEFAULT

public static final I2cAddr ADDRESS_I2C_DEFAULT

Constructor Detail

NavxMicroNavigationSensor

public NavxMicroNavigationSensor(I2cDeviceSynch deviceClient)

Method Detail

newWindow

protected static I2cDeviceSynch.ReadWindow newWindow(NavxMicroNavigationSensor.Register regFirst,
                                                     NavxMicroNavigationSensor.Register regMax)

setReadWindow

protected void setReadWindow()

internalInitialize

protected boolean internalInitialize(NavxMicroNavigationSensor.Parameters parameters)

Description copied from class: I2cDeviceSynchDeviceWithParameters

Actually attempts to carry out initialization with the indicated parameter block. If successful, said parameter block should be stored in the I2cDeviceSynchDeviceWithParameters.parameters member variable.

Specified by:

internalInitialize in class I2cDeviceSynchDeviceWithParameters<I2cDeviceSynch,NavxMicroNavigationSensor.Parameters>

Parameters:

parameters - the parameter block with which to initialize

Returns:

whether initialization was successful or not

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getFirmwareVersion

public RobotUsbDevice.FirmwareVersion getFirmwareVersion()

ensureReadWindow

protected void ensureReadWindow(I2cDeviceSynch.ReadWindow needed)

readTimeStamped

public TimestampedData readTimeStamped(NavxMicroNavigationSensor.Register reg,
                                       int creg)

read8

public byte read8(NavxMicroNavigationSensor.Register reg)

readShort

public short readShort(NavxMicroNavigationSensor.Register reg)

readSignedHundredthsFloat

public float readSignedHundredthsFloat(NavxMicroNavigationSensor.Register reg)

shortToSignedHundredths

protected float shortToSignedHundredths(short value)

write8

public void write8(NavxMicroNavigationSensor.Register reg,
                   byte value)

writeShort

public void writeShort(NavxMicroNavigationSensor.Register reg,
                       short value)

isCalibrating

public boolean isCalibrating()

Returns true if the sensor is currently performing automatic gyro/accelerometer calibration. Automatic calibration occurs when the sensor is initially powered on, during which time the sensor should be held still, with the Z-axis pointing up (perpendicular to the earth).

NOTE: During this automatic calibration, the angular orientation data may not be accurate.

Returns:

whether the sensor is currently performing automatic calibration

getAngularVelocityAxes

public java.util.Set<Axis> getAngularVelocityAxes()

Description copied from interface: Gyroscope

Returns the axes on which the gyroscope measures angular velocity. Some gyroscopes measure angular velocity on all three axes (X, Y, & Z) while others measure on only a subset, typically the Z axis. This method allows you to determine what information is usefully returned through Gyroscope.getAngularVelocity(AngleUnit).

Specified by:

getAngularVelocityAxes in interface Gyroscope

Returns:

the axes on which the gyroscope measures angular velocity.

See Also:

Gyroscope.getAngularVelocity(AngleUnit)

getAngularOrientationAxes

public java.util.Set<Axis> getAngularOrientationAxes()

Description copied from interface: OrientationSensor

Returns the axes on which the sensor measures angular orientation.

Specified by:

getAngularOrientationAxes in interface OrientationSensor

Returns:

the axes on which the sensor measures angular orientation.

getAngularOrientation

public Orientation getAngularOrientation(AxesReference reference,
                                         AxesOrder order,
                                         AngleUnit angleUnit)

Description copied from interface: OrientationSensor

Returns the absolute orientation of the sensor as a set three angles. Axes on which absolute orientation is not measured are reported as zero.

Specified by:

getAngularOrientation in interface OrientationSensor

Parameters:

reference - the axes reference in which the result will be expressed

order - the axes order in which the result will be expressed

angleUnit - the angle units in which the result will be expressed

Returns:

the absolute orientation of the sensor

See Also:

Orientation

getAngularVelocity

public AngularVelocity getAngularVelocity(AngleUnit unit)

Description copied from interface: Gyroscope

Returns the angular rotation rate across all the axes measured by the gyro. Axes on which angular velocity is not measured are reported as zero.

Specified by:

getAngularVelocity in interface Gyroscope

Parameters:

unit - the unit in which the rotation rates are to be returned (the time dimension is always inverse-seconds).

Returns:

the angular rotation rate across all the supported axes

See Also:

Gyroscope.getAngularVelocityAxes()

setI2cAddress

public void setI2cAddress(I2cAddr newAddress)

Description copied from interface: I2cAddrConfig

Configures a new I2C address to use

Specified by:

setI2cAddress in interface I2cAddrConfig

Parameters:

newAddress - the new I2C address to use

getI2cAddress

public I2cAddr getI2cAddress()

Description copied from interface: I2cAddressableDevice

Returns the I2C address currently in use to communicate with an I2C hardware device

Specified by:

getI2cAddress in interface I2cAddressableDevice

Returns:

the I2C address currently in use