Giroscopio#

Inicializando la clase Gyro #

Un sensor giroscópico se crea utilizando el siguiente constructor:

Gyro(port)

Este constructor utiliza un parámetro:

Parámetro	Descripción
`port`	The 3-Wire Port that the Gyro Sensor is connected to, whether it’s a port on the `Brain`, or a `3-Wire Expander`.

A Brain or 3-Wire Expander must be created first before they can be used to create an object with the Gyro Class constructor.

# Create the Brain.
brain = Brain()
# Construct a Gyro Sensor "gyro" with the
# Gyro class.
gyro = Gyro(brain.three_wire_port.a)

This gyro object will be used in all subsequent examples throughout this API documentation when referring to Gyro class methods.

Métodos de clase #

calibrate()#

The calibrate() method calibrates the Gyro Sensor. Calibration should be done when the Gyro Sensor is not moving.

Devoluciones: Ninguna.

# Start Gyro Sensor calibration.
gyro.calibrate()
# Print that the Gyro Sensor is calibrating while waiting for it to finish calibrating.
while gyro.is_calibrating():
    brain.screen.clear()
    brain.screen.print("Gyro Sensor is calibrating.")
    wait(50, MSEC)

is_calibrating()#

The is_calibrating() method checks if the Gyro Sensor is currently calibrating.

Returns: True if the Gyro Sensor is calibrating. False if it is not.

# Start Gyro Sensor calibration.
gyro.calibrate()
# Print that the Gyro Sensor is calibrating while waiting for it to finish calibrating.
while gyro.is_calibrating():
    brain.screen.clear()
    brain.screen.print("Gyro Sensor is calibrating.")
    wait(50, MSEC)

reset_heading()#

The reset_heading() method resets the heading of the Gyro Sensor to 0. Returns: None.

reset_rotation()#

The reset_rotation() method resets the rotation of the Gyro Sensor to 0.

Devoluciones: Ninguna.

set_heading()#

The set_heading(value, units) method sets the heading of the Gyro Sensor to a specific value.

Parámetros	Descripción
`value`	El valor a utilizar para el nuevo encabezado.
`units`	Optional. A valid `RotationUnits` type. The default is `DEGREES`.

Devoluciones: Ninguna.

# Set the value of the Gyro Sensor's heading to 180 degrees.
gyro.set_heading(180)

set_rotation()#

The set_rotation(value, units) method sets the rotation of the Gyro Sensor.

Parámetros	Descripción
`value`	El valor de rotación a establecer.
`units`	Optional. A valid `RotationUnits` type. The default is `DEGREES`.

Devoluciones: Ninguna.

# Set the value of the Gyro Sensor's rotation to 180 degrees.
gyro.set_rotation(180)

heading()#

The heading(units) method returns the current heading of the Gyro Sensor.

Parámetros	Descripción
`units`	Optional. A valid `RotationUnits` type. The default is `DEGREES`.

Devuelve: El rumbo actual del sensor giroscópico en las unidades especificadas.

# Print the value of the current heading of the Gyro Sensor
# to the Brain's screen.
brain.screen.print(gyro.heading())

rotation()#

The rotation(units) method returns the current rotation of the Gyro Sensor.

Parámetros	Descripción
`units`	Optional. A valid `RotationUnits` type. The default is `DEGREES`.

Devuelve: La rotación actual del sensor giroscópico en las unidades especificadas.

# Print the value of the current rotation of the Gyro Sensor
# to the Brain's screen.
brain.screen.print(gyro.rotation())

set_turn_type()#

The set_turn_type(turntype) method sets the direction that returns positive values for the heading.

Parámetros	Descripción
`turntype`	A valid `TurnType`.

Devoluciones: Ninguna.

# Set the turn type to left.
gyro.set_turn_type(LEFT)

# Set the turn type to right.
gyro.set_turn_type(RIGHT)

get_turn_type()#

The get_turn_type() method returns the direction that returns positive values for heading.

Devuelve: El tipo de giro del sensor giroscópico en las unidades especificadas.

changed()#

The changed(callback, arg) method registers a callback function for when the Gyro Sensor’s heading changes.

Parámetros	Descripción
`callback`	La función de devolución de llamada que se llamará cuando cambie el rumbo del sensor giroscópico.
`arg`	Opcional. Una tupla de argumentos para pasar a la función de devolución de llamada.

Devuelve: Una instancia de la clase Event.

# Define a function gyro_changed.
def gyro_changed():
    # The Brain will print that the heading changed on
    # the Brain's screen.
    brain.screen.print("heading changed") 
# Run gyro_changed() when the Gyro Sensor's heading changes.
gyro.changed(gyro_changed)