Chief Delphi - Accelerometer Code Making Robot Stop Moving

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progal

12-02-2013 18:41

Accelerometer Code Making Robot Stop Moving

Hey, apologies if this is an already answered question. I couldn't find anything on the topic.
The problem that we're having is whenever we state the accelerometer (not even doing anything with it, but just instantiating it), our robot components stop working completely. The robot won't move, et cetera.

Also, we don't know how to get the values from the gyro once in teleop, or rather the method to use to get the values from the accelerometer.

This is our code:

Code:

class RobotDemo : public SimpleRobot

{

        RobotDrive myRobot; // robot drive system

        Joystick stick1, stick2; // only joystick

        ADXL345_SPI adxl;

Code:

public:

        RobotDemo(void):

                myRobot(2, 1),        // these must be initialized in the same order

                stick1(1),                // as they are declared above.

                stick2(2),

                adxl(5, 6, 7, 8, ADXL345_SPI::kRange_2G)

Thanks in advance!

kenfox

13-02-2013 06:58

Re: Accelerometer Code Making Robot Stop Moving

Quote:

Originally Posted by progal (Post 1232350)

whenever we [instantiate] the accelerometer ... our robot components stop working completely.

Code:

adxl(5, 6, 7, 8, ADXL345_SPI::kRange_2G)

The constructor for ADXL345_SPI takes the digital IO module as the first parameter and has a default kRange_2G value for the 6th parameter. You are asking it to use a non-existant module #5 which probably causes the robot code to crash. Do you see an error message about using a module out of range?

If you only have one digital IO module in the cRIO, it will be module #1.

Does the following code work better?

Code:

adxl(1, 5, 6, 7, 8)

progal

15-02-2013 18:22

Re: Accelerometer Code Making Robot Stop Moving

Quote:

Originally Posted by kenfox (Post 1232608)

Does the following code work better?

Code:

adxl(1, 5, 6, 7, 8)

It did work.. kinda. It gave us the values but after it showed us these values it didn't update after that:
X: 0
Y: 2
Z: 4

This is how we're getting the values:

Code:

dsLCD->PrintfLine(DriverStationLCD::kUser_Line4, "Accelerometer X: %d", adxl.kAxis_X);

dsLCD->PrintfLine(DriverStationLCD::kUser_Line5, "Accelerometer Y: %d", adxl.kAxis_Y);

dsLCD->PrintfLine(DriverStationLCD::kUser_Line6, "Accelerometer Z: %d", adxl.kAxis_Z);

Is this how we should be finding the values?

progal

15-02-2013 20:13

Re: Accelerometer Code Making Robot Stop Moving

Apologies! We just edited our code to try and find values:

Code:

dsLCD->PrintfLine(DriverStationLCD::kUser_Line4, "X: %d", adxl.GetAcceleration(adxl.kAxis_X));

dsLCD->PrintfLine(DriverStationLCD::kUser_Line5, "Y: %d", adxl.GetAcceleration(adxl.kAxis_Y));

dsLCD->PrintfLine(DriverStationLCD::kUser_Line6, "Z: %d", adxl.GetAcceleration(adxl.kAxis_Z));

This gave us these values:
X: 21360244
Y: 21360244
Z: 21360244

And the values never changed. Is there a "reset" for the accelerometer? Any ideas?

Alan Anderson

16-02-2013 00:58

Re: Accelerometer Code Making Robot Stop Moving

I thought %d was for integers. Doesn't the GetAcceleration() method return a float?

SushenaJammi

16-02-2013 10:27

Re: Accelerometer Code Making Robot Stop Moving

in ADXL345_SPI.h, it says

Code:

virtual double GetAcceleration(Axes axis);

progal

16-02-2013 10:40

Re: Accelerometer Code Making Robot Stop Moving

Quote:

Originally Posted by Alan Anderson (Post 1234200)

I thought %d was for integers. Doesn't the GetAcceleration() method return a float?

%d is for doubles
%f is for floats
%i is for integers

but the accelerometer values return a double as Sushena pointed out.

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