Charge Station Gyro

This repository contains code for interacting with a standard ADXRS450 FRC gyroscope over SPI using an Arduino UNO for the purpose of displaying the state of the Charge Station.

Since the ADXRS450 gyro only provides the current angle rate, the rate is integrated over time to accumulate the current angle. This approach obviously has some error and according the to the data sheet, will drift roughly 25°/hour minimum.

Pins

Name	Pin Number	Direction	Description
SCLK	13	OUT	Serial Clock
MOSI	11	OUT	Master-Out Slave-In
MISO	12	IN	Master-In Slave-Out
CS0	10	OUT	Chip Select 0 (active low)
RST	5	IN	Reset switch (active low)
LED	6	OUT	LED Data

Quickstart

You need a nightly Rust compiler for compiling Rust code for AVR. The correct version will be installed automatically due to the rust-toolchain.toml file.

Install dependencies:

• Ubuntu

  sudo apt install avr-libc gcc-avr pkg-config avrdude libudev-dev build-essential

• Macos

  xcode-select --install # if you haven't already done so
  brew tap osx-cross/avr
  brew install avr-gcc avrdude

• Windows

  Install Scoop using Powershell

  Set-ExecutionPolicy RemoteSigned -Scope CurrentUser # Needed to run a remote script the first time
  irm get.scoop.sh | iex

  Install avr-gcc and avrdude

  scoop install avr-gcc
  scoop install avrdude
  

  See Setting up environment for more information.

Next, install ravedude, a tool which seamlessly integrates flashing your board into the usual cargo workflow:

cargo install ravedude

Finally, flash the code to the arduino and run it automatically:

cargo run

References

• ADXRS450 Data Sheet
• ADXRS450 WPILib Implementation
• SPI (Serial Peripheral Interface)