ADIS16448

java.lang.Object
- GyroBase
- - org.usfirst.frc.team1736.lib.Sensors.ADIS16448_IMU

```
public class ADIS16448_IMU
extends GyroBase
```
This class is for the ADIS16448 IMU that connects to the RoboRIO MXP port.

Constructor Summary

Constructors
Constructor and Description

ADIS16448_IMU()
Constructor.

Constructors
Constructor and Description
`ADIS16448_IMU()` Constructor.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`calibrate()`
`void`	`free()` Delete (free) the spi port used for the IMU.
`double`	`getAccelX()`
`double`	`getAccelY()`
`double`	`getAccelZ()`
`double`	`getAngle()`
`double`	`getAngleX()`
`double`	`getAngleY()`
`double`	`getAngleZ()`
`double`	`getBarometricPressure()`
`double`	`getLastSampleTime()`
`double`	`getMagX()`
`double`	`getMagY()`
`double`	`getMagZ()`
`double`	`getPitch()`
`double`	`getQuaternionW()`
`double`	`getQuaternionX()`
`double`	`getQuaternionY()`
`double`	`getQuaternionZ()`
`double`	`getRate()`
`double`	`getRateX()`
`double`	`getRateY()`
`double`	`getRateZ()`
`double`	`getRoll()`
`double`	`getTemperature()`
`double`	`getYaw()`
`void`	`reset()`
`void`	`resetTo(double angleX)`
`void`	`updateTable()`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail
- ADIS16448_IMU
```
public ADIS16448_IMU()
```
  Constructor.

Method Detail

calibrate
```
public void calibrate()
```

reset
```
public void reset()
```

resetTo
```
public void resetTo(double angleX)
```
Parameters:

angleX - reset gyro x axis angle to value

free
```
public void free()
```
Delete (free) the spi port used for the IMU.

getAngle
```
public double getAngle()
```

getRate
```
public double getRate()
```

getAngleX
```
public double getAngleX()
```

getAngleY
```
public double getAngleY()
```

getAngleZ
```
public double getAngleZ()
```

getRateX
```
public double getRateX()
```

getRateY
```
public double getRateY()
```

getRateZ
```
public double getRateZ()
```

getAccelX
```
public double getAccelX()
```

getAccelY
```
public double getAccelY()
```

getAccelZ
```
public double getAccelZ()
```

getMagX
```
public double getMagX()
```

getMagY
```
public double getMagY()
```

getMagZ
```
public double getMagZ()
```

getPitch
```
public double getPitch()
```

getRoll
```
public double getRoll()
```

getYaw
```
public double getYaw()
```

getLastSampleTime
```
public double getLastSampleTime()
```

getBarometricPressure
```
public double getBarometricPressure()
```

getTemperature
```
public double getTemperature()
```

getQuaternionW
```
public double getQuaternionW()
```

getQuaternionX
```
public double getQuaternionX()
```

getQuaternionY
```
public double getQuaternionY()
```

getQuaternionZ
```
public double getQuaternionZ()
```

updateTable
```
public void updateTable()
```

Class ADIS16448_IMU

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

ADIS16448_IMU

Method Detail

calibrate

reset

resetTo

free

getAngle

getRate

getAngleX

getAngleY

getAngleZ

getRateX

getRateY

getRateZ

getAccelX

getAccelY

getAccelZ

getMagX

getMagY

getMagZ

getPitch

getRoll

getYaw

getLastSampleTime

getBarometricPressure

getTemperature

getQuaternionW

getQuaternionX

getQuaternionY

getQuaternionZ

updateTable