FRC TEAMS, PLEASE BE AWARE THAT THE 2019 KICKOFF RELEASE IMAGE BREAKS COMPATIBILITY WITH ADI IMUs! WE ARE WORKING ON A SIMPLE UTILITY TO RESOLVE THE ISSUE AUTOMATICALLY AND WILL MAKE IT AVAILABLE SHORTLY.
As described on the WPI Known Issues page, the issue can be resolved by logging in to your RoboRIO via serial or SSH terminal as admin (password blank, usually), and executing the command "updateNIDrivers" without quotes. Note that this command is case sensitive. Future updates will resolve this issue and this step is only required when re-imaging your RoboRIO with the kickoff image. If you run into any issues, please submit an issue ticket and we will reach out as quickly as possible.
This example library was written to give mentors, students, and engineers a starting point for using a very high-performance 10 Degree-of-Freedom (DoF), calibrated Inertial Measurement Unit (IMU). This sensor packages gyroscopes, accelerometers, magnetometers, and a barometer in a small, robust package perfect for high performance robotics (such as FRC).
These software libraries provide the user (you) with:
- Raw sensor outputs - X-Y-Z Gyroscope, Accelerometer, Magnetometer, and Barometer
- X-Y-Z gyroscope angles calculated by means of loop integration
- AHRS (Pitch, Roll, Yaw) calculated using complementary and simplified Kalman (Madgwick) filters. More information can be found here
- Offset compensation calculated at runtime
Tutorial videos, how-to guides, and additional resources can be found on the ADI FIRST Robotics Wiki Page.
The IMU driver currently supports all three official FRC languages (C++, Java, and LabVIEW). Raw sensor rate outputs, accumulated sensor outputs, and Kalman/Madgwick outputs are supported for all languages.
In order to use the software, you will need access to a RoboRIO and the ADIS16448 MXP Breakout Board. This software is based on the FRC 2019 software distribution and relies on the WPILib libraries to interface with the IMU. Previous (pre-2019) versions of LabVIEW and WPILib libraries are not supported.
Plug in the expansion board as shown below. Be careful not to offset the connector!! If installed correctly, the Power LED should turn on once the RoboRIO is powered on.
Your RoboRIO should be imaged to match the version of the NI Update Suite installed on your PC. For example, if you have the latest (of this writing) update suite installed (2019.b3), then you must have the FRC_roboRIO_2019_v9 image and roboRIO_6.0.0 firmware installed as well. This driver relies heavily on the FPGA image loaded in the RoboRIO and will not work on older versions. The most current NI Update Suite can be found here.
Click on the language you're looking to use above. Each folder includes instructions specific to the language specified. If you're looking for more information on using the sensor, be sure to check out the ADI FIRST Robotics Wiki Page.
Thank you very much to Team 836, The RoboBees for providing the FIRST community with an excellent AHRS example!