adxrs450.md

ADXRS450

{% hint style="warning" %} Keep your robot still at startup EVERY TIME with this gyroscope. {% endhint %}

Documentation

{% embed url="https://wiki.analog.com/first/adxrs450_gyro_board_frc" %} Official documentation {% endembed %}

{% embed url="https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/gyros-software.html#adxrs450-gyro" %} WPILib Documentation on how to initialize it {% endembed %}

Single-axis reading.

The ADXRS450 is an old single axis gyroscope meaning it must be parallel to the earth for it to work!

YAGSL Checklist

• Ensure the ADXRS450 is attached to the roboRIO firmly.
• The roboRIO is centered on the robot.
• The roboRIO is flat parallel to the earth.
• The robot DOES NOT MOVE AT ALL on startup for at least 10 seconds!

Communication

The ADXRS450 attaches directly to the SPI port on the roboRIO and is only connectable via there with YAGSL.

Example swervedrive.json

{
  "imu": {
    "type": "adxrs450",
    "id": 0,
    "canbus": null
  },
  "invertedIMU": false,
  "modules": [
    "frontleft.json",
    "frontright.json",
    "backleft.json",
    "backright.json"
  ]
}