Acelerómetro

Introducción

The accelerometer class measures the acceleration of the robot along one or more axes. The sensor outputs an analog voltage that changes based on acceleration in G-forces (G).

Un puente en el acelerómetro determina su rango de sensibilidad:

• 2G - Mide la aceleración de -2G a +2G.

• 6G - Mide la aceleración de -6G a +6G.

Constructor de clases

accelerometer(
  triport::port &port,
  bool           bHighSensitivity = false);

Instructor de clase

Destroys the accelerometer object and releases associated resources.

virtual ~accelerometer();

Parámetros

Parámetro	Tipo	Descripción
port	triport::port &	The 3-Wire Port the Accelerometer is connected to, written as Brain.ThreeWirePort.X or ExpanderName.X, where X is the port letter (for example, Brain.ThreeWirePort.A or Expander1.A).
bHighSensitivity	bool	Optional. Whether to enable high sensitivity mode on the Accelerometer: true - Enables high sensitivity (+/- 2G). false (default) - Enables low sensitivity (+/- 6G).

Ejemplos

// Create a 6G accelerometer instance in Port A
accelerometer Accel6GA = accelerometer(Brain.ThreeWirePort.A);

// Create a 2G accelerometer instance in Port A
accelerometer Accel2GA = accelerometer(Brain.ThreeWirePort.A, true);

Funciones de los miembros

The accelerometer class includes the following member functions:

• acceleration — Returns the acceleration measured by the Accelerometer in Gs.

Before calling any accelerometer member functions, an accelerometer instance must be created, as shown below:

/* This constructor is required when using VS Code.
Accelerometer configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create a 2G accelerometer instance in Port A
accelerometer Accel2GA = accelerometer(Brain.ThreeWirePort.A, true);

acceleration

Devuelve la aceleración medida en Gs.

Available Functions

double acceleration();

Parameters

Esta función no acepta ningún parámetro.

Return Values

Returns a double representing the acceleration measured in Gs.

// Drive the robot forward.
Drivetrain.drive(forward);

// Get the acceleration measured by the Accelerometer.
double accelerationValue = Accel2GA.acceleration();