Chief Delphi - Compatibility with the Analog Devices Gyros

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Snapperbot

25-01-2016 17:21

Compatibility with the Analog Devices Gyros

So the ADXL362/ADXRS450 and the ADIS16448 gyros came today from FIRST Choice. I was really exited until I saw that the website only talks about LabVIEW code. Can a team that uses another programming language like Java still get some kind of use out of the gyro or is it as useful as a brick(to teams that don't use LabVIEW)?

Thad House

25-01-2016 17:28

Re: Compatibility with the Analog Devices Gyros

There is an ADXRS450 class in Java and C++ that will work out of the box with the ADXRS gyro. I do not know for the ADIS16448 gyro however.

Peter Johnson

25-01-2016 18:10

Re: Compatibility with the Analog Devices Gyros

Quote:

Originally Posted by Snapperbot (Post 1529944)

As Thad stated, ADXL362/ADXRS450 support is included in both C++ and Java WPILib. C++ and Java code for the ADIS16448 is available at the same location as the LabView code: https://github.com/juchong/ADIS16448-RoboRIO-Driver . The ADIS16448 driver has a Kalman filter implementation but it does not currently do magnetic disturbance rejection (patches to fix this would be welcome).

Snapperbot

28-01-2016 18:33

Re: Compatibility with the Analog Devices Gyros

Yea the ADXRS450 worked fine after updating the plugins, I'm having trouble figuring out where to put the java code for the ADIS16448 so I'll just stick to the ADXRS450 for now. Thanks for your help :]

duane

30-01-2016 23:37

Re: Compatibility with the Analog Devices Gyros

> it does not currently do magnetic disturbance rejection

Can you elaborate on the ramifications of not doing "magnetic disturbance rejection"?

Thanks,
...Duane

Peter Johnson

31-01-2016 00:31

Re: Compatibility with the Analog Devices Gyros

Quote:

Originally Posted by duane (Post 1532769)

Can you elaborate on the ramifications of not doing "magnetic disturbance rejection"?

billbo911

31-01-2016 01:10

Re: Compatibility with the Analog Devices Gyros

Quote:

Originally Posted by Peter Johnson (Post 1532779)

The magnetometers in the device sense magnetic fields and are used in the Kalman filter to stabilize the gyro and derive a magnetic heading. Not doing disturbance rejection means that strong magnetic fields (such as those caused by motors) will result in incorrect heading readings.....

..... The ADIS16448 driver has a Kalman filter implementation but it does not currently do magnetic disturbance rejection (patches to fix this would be welcome).

Do you know if these patches are currently under development? It would certainly be nice to have them.

duane

31-01-2016 15:55

Re: Compatibility with the Analog Devices Gyros

So, what does that mean for us using these devices with C++? Can you elaborate on what interfaces will be useful and which will not? Or is using this device in C++ just not going to be useful?

In short, should we bother using the ADIS16448 IMU with C++? If so what can we use reliably?

I'm certainly not qualified to add the compensation needed for these devices.

Thanks

RufflesRidge

31-01-2016 16:06

Re: Compatibility with the Analog Devices Gyros

Quote:

Originally Posted by duane (Post 1533022)

In short, should we bother using the ADIS16448 IMU with C++? If so what can we use reliably?

Using the gyro readings alone should be fine. If you want to try using the Kalman derived heading, you should mount the device as far away from motors and moving steel as possible then test heavily to see how it performs, especially driving around steel like most of the field this year.

duane

31-01-2016 16:17

Re: Compatibility with the Analog Devices Gyros

Thank you!

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