Gyro

Introduction

The Gyro Sensor provides methods for tracking and changing the robot’s orientation. These methods allow the Brain to track its orientation and heading.

For the examples below, the configured Gyro Sensor will be named Gyro1, and will be used in all subsequent examples throughout this API documentation when referring to Gyro class methods.

Below is a list of all methods:

Actions – Calibrate and detect changes in orientation with the Gyro Sensor.

• calibrate – Calibrates the Gyro Sensor for stable heading tracking.

• changed – Registers a function to call when the Gyro Sensor detects change.

Mutators – Modify the Gyro Sensor’s heading and rotation.

• setHeading – Sets the Gyro Sensor’s heading to a specified value.

• setRotation – Sets the Gyro Sensor’s rotation value.

• resetHeading – Sets the heading of the Gyro Sensor to 0.

• resetRotation – Sets the rotation of the Gyro Sensor to 0.

Getters – Return orientation and movement data with the Gyro Sensor.

• heading – Returns the current heading.

• rotation – Returns the cumulative rotation.

• rate – Returns the angular velocity around the x, y, or z axis.

• isCalibrating – Returns whether or not the Gyro Sensor is calibrating.

• installed – Returns whether or not a Gyro Sensor is connected to the Brain.

Constructors – Manually initialize the Gyro Sensor.

• gyro – Create a Gyro Sensor.

Actions

calibrate

calibrate calibrates the Gyro Sensor. Calibration should be used when the Gyro Sensor is not moving.

Usage:
Gyro1.calibrate(time, wait);

Parameters	Description
time	One of the valid calibration types: calExtended – An extended calibration. calNormal – Normal calibration speed. calSlow – Slow calibration speed.
wait	Optional. Whether or not to wait before executing the next command: true – Wait before executing the next command. false – Do not wait before executing the next command.

// Example coming soon

changed

changed registers a callback function for when the Gyro Sensor’s heading changes.

Usage:
Gyro1.changed(callback);

Parameters	Description
callback	A function that is previously defined to execute when the Gyro Sensor’s heading changes.

// Example coming soon

Mutators

setHeading

setHeading sets the heading of the Gyro Sensor to a specific value.

Usage:
Gyro1.setHeading(value, units);

Parameters	Description
value	The heading value to set.
units	The unit that represents the new heading: degrees turns

// Example coming soon

setRotation

setRotation sets the rotation of the Gyro Sensor to a specific value.

Usage:
Gyro1.setRotation(value, units);

Parameters	Description
value	The rotation value to set.
units	The unit that represents the new rotation: degrees turns

// Example coming soon

resetHeading

resetHeading resets the heading of the Gyro Sensor to 0.

Usage:
Gyro1.resetHeading();

Parameters	Description
	This method has no parameters.

// Example coming soon

resetRotation

resetRotation resets the rotation of the Gyro Sensor to 0.

Usage:
Gyro1.resetRotation();

Parameters	Description
	This method has no parameters.

// Example coming soon

Getters

heading

heading returns the current heading of the Gyro Sensor.

Usage:
Gyro1.heading(units)

Parameters	Description
units	Optional. The unit that represents the heading: degrees (default) turns

// Example coming soon

rotation

rotation returns the current rotation of the Gyro Sensor.

Usage:
Gyro1.rotation(units)

Parameters	Description
units	Optional. The unit that represents the rotation: degrees (default) turns

// Example coming soon

rate

rate returns the current rate of change of the Gyro Sensor’s rotation.

Usage:
Gyro1.rate(units)

Parameters	Description
units	Optional. The unit used to represent the gyro rate: dps (default) - degrees per second rateUnits::rps – revolutions per second

// Example coming soon

isCalibrating

isCalibrating returns a Boolean indicating if the Gyro Sensor is currently calibrating.

• true - The Gyro Sensor is calibrating.

• false - The Gyro Sensor is not calibrating.

Usage:
Gyro1.isCalibrating()

Parameters	Description
	This method has no parameters.

// Example coming soon

installed

installed returns a Boolean indicating whether the Gyro Sensor is connected to the Brain.

• true - The Gyro Sensor is connected to the Brain.

• false - The Gyro Sensor is not connected to the Brain.

Usage:
Gyro1.installed()

Parameters	Description
	This method has no parameters.

Constructors

gyro

gyro creates an object of the gyro Class in the specified port.

Usage:
gyro Gyro1 = gyro(port);

Parameter	Description
port	Which Smart Port that the Gyro Sensor is connected to as PORT followed by the port number, ranging from 1 to 12.

// Example coming soon