# ADIS16448 {% hint style="warning" %} Keep your robot still at startup EVERY TIME with this gyroscope. {% endhint %} ## Documentation {% embed url="" %} Official Documentation {% endembed %} {% embed url="" %} WPILib documentation {% endembed %}

The ADIS16448 is a 3-axis gyroscope meaning it must be parallel to the earth for it to work! ## YAGSL Checklist * [ ] Ensure the ADIS16448 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 ADIS16448 attaches directly to the SPI port on the roboRIO MXP and is only connectable via there with YAGSL. ## Example `swervedrive.json`

{
  "imu": {
    "type": "adis16448",
    "id": 0,
    "canbus": null
  },
  "invertedIMU": false,
  "modules": [
    "frontleft.json",
    "frontright.json",
    "backleft.json",
    "backright.json"
  ]
}

[^1]: Select the `adis16448` gyroscope as the primary gyroscope. [^2]: ID is not relevant for the NavX so `0` is chosen arbitrarily. [^3]: The `canbus` is not relavent for the NavX so `null` ensures nothing is set in the configuration. [^4]: Reads default counterclockwise --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://docs.yagsl.com/devices/gyroscope/adis16448.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.