Sensor inercial y giroscópico#
Introducción#
The VEX EXP Inertial Sensor and Gyro Sensor can measure how a robot is turning.
The Inertial Sensor uses two parts to measure motion. The gyroscope measures turning, such as heading, rotation, gyro rate, and orientation. The accelerometer measures changes in motion, such as speeding up or slowing down along the x, y, and z axes.
The Gyro Sensor measures turning only. It can report heading and rotation values, but it does not report acceleration or orientation.
Inertial or Gyro Sensor blocks will only appear when the sensor is configured independently in the Devices window, not as part of a drivetrain configuration.
A continuación se muestra una lista de los bloques disponibles:
Inertial Sensing — Use values from a configured Inertial Sensor.
Inertial acceleration – Reports how quickly the Inertial Sensor is speeding up or slowing down on the selected axis.
Inertial gyro rate – Reports how fast the Inertial Sensor is rotating on the selected axis.
Inertial orientation – Reports the Inertial Sensor’s roll, pitch, or yaw angle.
Inertial/Gyro Sensing — Work with heading and rotation values.
calibrar inercial/giroscopio – Calibra el sensor inercial o giroscópico configurado.
set Inertial/Gyro heading – Sets the sensor’s current heading to a new heading value.
set Inertial/Gyro rotation – Sets the sensor’s current rotation to a new rotation value.
Inertial/Gyro heading – Reports the direction the sensor is facing, from 0 to 359.99 degrees.
Inertial/Gyro rotation – Reports how far the sensor has turned.
Aceleración inercial#
Acceleration is how quickly the sensor is speeding up or slowing down. The Inertial acceleration reporter block reports the acceleration of the Inertial Sensor on the selected axis, from -4.0 G to 4.0 G.
A G is a unit used to measure acceleration. 1 G is about the acceleration you feel from gravity while sitting still.
The value can be positive or negative depending on the direction of acceleration on the selected axis. The axis options are x, y, and z.
Nota: Este bloque solo está disponible para sensores inerciales.
([Inertial 1 v] aceleración de [incógnita v] eje en g)
Parámetro |
Descripción |
|---|---|
dispositivo |
El sensor inercial a utilizar. |
eje |
The axis to measure acceleration on:
|
Velocidad del giroscopio inercial#
Gyro rate is how fast the Inertial Sensor is rotating. The Inertial gyro rate reporter block reports the current rotation speed of the Inertial Sensor on the selected axis in degrees per second \(dps\).
The value can be positive or negative depending on the direction the sensor is rotating on that axis.
Nota: Este bloque solo está disponible para sensores inerciales.
([Inertial 1 v] velocidad de giro de [incógnita v] eje en dps)
Parámetro |
Descripción |
|---|---|
dispositivo |
El sensor inercial a utilizar. |
eje |
The axis to report gyro rate on:
|
Orientación inercial#
Orientation is the Inertial Sensor’s current angle on a selected turning axis. The Inertial orientation reporter block reports the roll, pitch, or yaw of the Inertial Sensor, from -180.00 to 180.00 degrees.
Roll, pitch, and yaw describe different ways the sensor can tilt or turn.
Nota: Este bloque solo está disponible para sensores inerciales.
([Inertial 1 v] orientación de [rollo v] en grados)
Parámetro |
Descripción |
|---|---|
dispositivo |
El sensor inercial a utilizar. |
ángulo |
The orientation angle to report:
|
Calibrar sistema inercial/giroscopio#
The calibrate Inertial/Gyro stack block calibrates the configured Inertial or Gyro Sensor.
Calibration helps the sensor measure turns correctly. Keep the sensor still during calibration. If the sensor moves during calibration, heading, rotation, gyro rate, and orientation values may not measure correctly.
The project will wait until calibration is done before the next block in the stack runs.
calibrar [Inertial 1 v]
Parámetro |
Descripción |
|---|---|
dispositivo |
El sensor inercial o giroscópico que se va a utilizar. |
Establecer rumbo inercial/giroscopio#
A heading is the direction the sensor is facing, measured in degrees from 0 to 359.99. The set Inertial/Gyro heading stack block changes the sensor’s current heading to a new heading value.
For example, if the sensor has turned to face right, setting the heading to 0 degrees makes that right-facing position the new 0 degrees. Then the sensor can track other headings based on that new direction.
Establecer el rumbo [Inertial 1 v] a [0] grado
Parámetros |
Descripción |
|---|---|
dispositivo |
El sensor inercial o giroscópico que se va a utilizar. |
título |
The heading value, in degrees, to set for the sensor. This can be a value from 0 to 359.99. |
Configurar la rotación inercial/girográfica#
Rotation is how much the sensor has turned, measured in degrees. Unlike heading, rotation can increase past 359.99 degrees or decrease below 0 degrees. At the beginning of a project, the rotation value is set to 0 degrees. The set Inertial/Gyro rotation stack block changes the sensor’s current rotation to a new value.
For example, if the sensor has made two full turns to the right, its rotation value will be 720 degrees. Setting the rotation to 0 degrees will reset that rotation from 720 to 0 degrees. Then the sensor can track rotations based on that new value.
Establezca la rotación [Inertial 1 v] a [0] grado
Parámetros |
Descripción |
|---|---|
dispositivo |
El sensor inercial o giroscópico que se va a utilizar. |
rotación |
The rotation value, in degrees, to set for the sensor. This can be an integer or a decimal. |
Dirección inercial/girósmica#
A heading is the direction the sensor is facing, measured in degrees from 0 to 359.99. The Inertial/Gyro heading reporter block reports the sensor’s current heading.
The starting heading is 0 degrees. If the sensor turns past 359.99 degrees, the heading wraps back to 0 degrees.
([Inertial 1 v] rumbo en grados)
Parámetros |
Descripción |
|---|---|
dispositivo |
El sensor inercial o giroscópico que se va a utilizar. |
Rotación inercial/giróscopo#
Rotation is how much the sensor has turned, measured in degrees. Unlike heading, rotation can increase past 359.99 degrees or decrease below 0 degrees. At the beginning of a project, the rotation value is set to 0 degrees. The Inertial/Gyro rotation reporter block reports the sensor’s current rotation.
Turning right increases the rotation, and turning left decreases the rotation. For example, making two full turns to the right will report a rotation of 720 degrees. Turning one full turn to the left from 0 degrees will report a rotation of -360 degrees.
([Inertial 1 v] rotación en grados)
Parámetros |
Descripción |
|---|---|
dispositivo |
El sensor inercial o giroscópico que se va a utilizar. |