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[examples] Add Snippets for Accelerometers using OnboardIMU (#8087)

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sciencewhiz
2025-07-20 22:19:14 -07:00
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parent 946ab9e98f
commit 09680072ac
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25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometercollision/Main.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.snippets.accelerometercollision;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

37
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometercollision/Robot.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.snippets.accelerometercollision;
import edu.wpi.first.wpilibj.OnboardIMU;
import edu.wpi.first.wpilibj.OnboardIMU.MountOrientation;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* Collision detection snippets for frc-docs.
* https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
*/
@SuppressWarnings("checkstyle:VariableDeclarationUsageDistance")
public class Robot extends TimedRobot {
double m_prevXAccel;
double m_prevYAccel;
OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.kFlat);
@Override
public void robotPeriodic() {
// Gets the current accelerations in the X and Y directions
double xAccel = m_accelerometer.getAccelX();
double yAccel = m_accelerometer.getAccelY();
// Calculates the jerk in the X and Y directions
// Divides by .02 because default loop timing is 20ms
double xJerk = (xAccel - m_prevXAccel) / 0.02;
double yJerk = (yAccel - m_prevYAccel) / 0.02;
m_prevXAccel = xAccel;
m_prevYAccel = yAccel;
SmartDashboard.putNumber("X Jerk", xJerk);
SmartDashboard.putNumber("Y Jerk", yJerk);
}
}

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometerfilter/Main.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.snippets.accelerometerfilter;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

32
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometerfilter/Robot.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.snippets.accelerometerfilter;
import edu.wpi.first.math.filter.LinearFilter;
import edu.wpi.first.wpilibj.OnboardIMU;
import edu.wpi.first.wpilibj.OnboardIMU.MountOrientation;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* Accelerometer filtering snippets for frc-docs.
* https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
*/
public class Robot extends TimedRobot {
OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.kFlat);
// Create a LinearFilter that will calculate a moving average of the measured X acceleration over
// the past 10 iterations of the main loop
LinearFilter m_xAccelFilter = LinearFilter.movingAverage(10);
@Override
public void robotPeriodic() {
double xAccel = m_accelerometer.getAccelX();
// Get the filtered X acceleration
double filteredXAccel = m_xAccelFilter.calculate(xAccel);
SmartDashboard.putNumber("X Acceleration", xAccel);
SmartDashboard.putNumber("Filtered X Acceleration", filteredXAccel);
}
}

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/adxlaccelerometers/Main.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.snippets.adxlaccelerometers;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

32
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/adxlaccelerometers/Robot.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.snippets.adxlaccelerometers;
import edu.wpi.first.wpilibj.ADXL345_I2C;
import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.TimedRobot;
/**
* ADXL345, 362 Accelerometer snippets for frc-docs.
* https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
*/
public class Robot extends TimedRobot {
// Creates an ADXL345 accelerometer object on the MXP I2C port
// with a measurement range from -8 to 8 G's
ADXL345_I2C m_accelerometer345I2C = new ADXL345_I2C(I2C.Port.kPort0, ADXL345_I2C.Range.k8G);
/** Called once at the beginning of the robot program. */
public Robot() {}
@Override
public void teleopPeriodic() {
// Gets the current acceleration in the X axis
m_accelerometer345I2C.getX();
// Gets the current acceleration in the Y axis
m_accelerometer345I2C.getY();
// Gets the current acceleration in the Z axis
m_accelerometer345I2C.getZ();
}
}

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/onboardimu/Main.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.snippets.onboardimu;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/onboardimu/Robot.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.snippets.onboardimu;
import edu.wpi.first.wpilibj.OnboardIMU;
import edu.wpi.first.wpilibj.OnboardIMU.MountOrientation;
import edu.wpi.first.wpilibj.TimedRobot;
/**
* on board IMU snippets for frc-docs.
* https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
*/
public class Robot extends TimedRobot {
// Creates an object for the on board IMU
OnboardIMU m_iMU = new OnboardIMU(MountOrientation.kFlat);
/** Called once at the beginning of the robot program. */
public Robot() {}
@Override
public void teleopPeriodic() {
// Gets the current acceleration in the X axis
m_iMU.getAccelX();
// Gets the current acceleration in the Y axis
m_iMU.getAccelY();
// Gets the current acceleration in the Z axis
m_iMU.getAccelZ();
// Gets the current angle in the X axis
m_iMU.getAngleX();
// Gets the current angle in the Y axis
m_iMU.getAngleY();
// Gets the current angle in the Z axis
m_iMU.getAngleZ();
// Gets the current angle as a Rotation2D
m_iMU.getRotation2d();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json
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"foldername": "analogaccelerometer",
"gradlebase": "java",
"mainclass": "Main"
},
{
"name": "AccelerometerCollisionDetection",
"description": "Snippets of Accelerometer for collision detection for frc-docs.",
"tags": [
"Hardware",
"Accelerometer",
"IMU"
],
"foldername": "accelerometercollision",
"gradlebase": "java",
"mainclass": "Main"
},
{
"name": "AccelerometerFilter",
"description": "Snippets of filtering Accelerometer for frc-docs.",
"tags": [
"Hardware",
"Accelerometer",
"IMU"
],
"foldername": "accelerometerfilter",
"gradlebase": "java",
"mainclass": "Main"
},
{
"name": "ADXLAccelerometers",
"description": "Snippets of ADXL 345 and 362 accelerometers for frc-docs.",
"tags": [
"Hardware",
"Accelerometer"
],
"foldername": "adxlaccelerometers",
"gradlebase": "java",
"mainclass": "Main"
},
{
"name": "OnboardIMU",
"description": "Snippets of Onboard IMU for frc-docs.",
"tags": [
"Hardware",
"Accelerometer",
"IMU"
],
"foldername": "onboardimu",
"gradlebase": "java",
"mainclass": "Main"
}
]