Giroscopio

Introducción

El sensor giroscópico proporciona métodos para rastrear y cambiar la orientación del robot. Estos métodos permiten al cerebro rastrear su orientación y rumbo.

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.

A continuación se muestra una lista de todos los métodos:

Acciones: calibrar y detectar cambios de orientación con el sensor giroscópico.

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

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

Mutadores: modifican el rumbo y la rotación del sensor giroscópico.

• 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: devuelve datos de orientación y movimiento con el sensor giroscópico.

• heading – Returns the current heading.

• rotation – Returns the cumulative rotation.

• rat – 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.

Constructores: inicializan manualmente el sensor giroscópico.

• gyro – Create a Gyro Sensor.

Comportamiento

calibrate

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

Usage:
Gyro1.calibrate(time, wait);

Parámetros	Descripción
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);

Parámetros	Descripción
callback	Una función que se define previamente para ejecutarse cuando cambia el rumbo del sensor giroscópico.

// Example coming soon

Mutadores

setHeading

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

Usage:
Gyro1.setHeading(value, units);

Parámetros	Descripción
value	El valor del encabezado a establecer.
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);

Parámetros	Descripción
value	El valor de rotación a establecer.
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();

Parámetros	Descripción
	Este método no tiene parámetros.

// Example coming soon

resetRotation

resetRotation resets the rotation of the Gyro Sensor to 0.

Usage:
Gyro1.resetRotation();

Parámetros	Descripción
	Este método no tiene parámetros.

// Example coming soon

Captadores

heading

heading returns the current heading of the Gyro Sensor.

Usage:
Gyro1.heading(units)

Parámetros	Descripción
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)

Parámetros	Descripción
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)

Parámetros	Descripción
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()

Parámetros	Descripción
	Este método no tiene parámetros.

// 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()

Parámetros	Descripción
	Este método no tiene parámetros.

Constructores

gyro

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

Usage:
gyro Gyro1 = gyro(port);

Parámetro	Descripción
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