There are several use-cases for using the IMU output in your code. Do not change these values! While this library is capable of AHRS, FRC teams will obtain better performance by not using it. While it isn't necessary, it's good practice to create constants for the Yaw Axis and Algorithm pins. Leave this at the default TRUE value! Failing to do this may cause undesired operation of your IMU! Right click on the Calibrate On Open pin on the Open VI and click Create Constant. You will also need to set whether the IMU will calibrate upon opening. I've named mine “MyIMU” but you can change this to whatever you want. Right click on the “refnum name” pin on the Registry Set VI and click “Create -> Constant” and create a unique name that you will use to refer to this IMU in the rest of your code. Now you need to assign a name to your IMU. Then, connect the ADI IMU DevRef Out pin on the Open VI to the ADI IMU DevRef pin on the Registry Set VI. Grab the Registry Set VI from the ADIS16448 IMU palette and place to the right of your Open VI. Now you need to assign a reference name to this IMU so that you can refer to it in other VIs.
It doesn't matter where you place it in this VI.
Bring the Open VI into your Begin.vi code. The first step is to create a new instance of the IMU, then assign a reference name to it so that you can call the gyro reference anywhere in your robot code. This can be found in the project window under Team Code. Open your robot project, or create a new one if you don't have one created already, and open up your Begin.vi block diagram.
0 kommentar(er)
