Inercial#

Introducción #

The IQ (2nd gen) Brain includes a built-in Inertial Sensor with a 3-axis gyroscope and 3-axis accelerometer. This allows the robot to track its orientation, heading, and acceleration.

This page uses brain_inertial as the example Inertial Sensor name. Replace it with your own configured name as needed.

A continuación se muestra una lista de todos los métodos disponibles:

Orientation — Read and control heading, rotation, and sensor calibration.

heading — Returns the current heading.
rotation — Returns the cumulative rotation.
calibrate — Calibrates the Inertial Sensor for stable heading tracking.
set_heading — Sets the Inertial Sensor’s heading to a specified value.
set_rotation — Sets the Inertial Sensor’s rotation value.
is_calibrating — Returns whether or not the Inertial Sensor is calibrating.
reset_heading — Sets the heading of the Inertial Sensor to 0.
reset_rotation — Sets the rotation of the Inertial Sensor to 0.
changed — Registers a function to be called when the Inertial Sensor detects change.

Motion — Measure acceleration, angular velocity, and tilt.

acceleration — Returns the linear acceleration along the x-, y-, or z-axis.
gyro_rate — Returns the angular velocity around the x-, y-, or z-axis.
orientation — Returns the roll, pitch, or yaw based on tilt and rotation.

Constructors — Manually initialize and configure an Inertial Sensor.

Inertial — Creates an Inertial Sensor.

Orientación #

heading #

heading returns the current heading of the Inertial Sensor.

Usage:
brain_inertial.heading(units)

Parámetros	Descripción
`units`	Optional. The unit used to represent the heading: `DEGREES` (default) `TURNS`

Parámetros

Descripción

units

Optional. The unit used to represent the heading:

DEGREES (default)
TURNS

# Display the heading after turning
drivetrain.turn_for(RIGHT, 450, DEGREES)
brain.screen.print(brain_inertial.heading())

rotation #

rotation returns the current rotation of the Inertial Sensor.

Usage:
brain_inertial.rotation(units)

Parámetros	Descripción
`units`	Optional. The unit used to represent the rotation: `DEGREES` (default) `TURNS`

Parámetros

Descripción

units

Optional. The unit used to represent the rotation:

DEGREES (default)
TURNS

# Display the rotation value after turning
drivetrain.turn_for(RIGHT, 450, DEGREES)
brain.screen.print(brain_inertial.rotation())

calibrate calibrates the Inertial Sensor. All subsequent lines will wait for the calibration to complete before executing. Calibration is an internal procedure that measures and compensates for sensor noise and drift over a specified period. During this time, the Brain must remain completely still (i.e., on a stable surface without any external movement). Movement during calibration will produce inaccurate results.

The VEX Brain automatically attempts to calibrate at the start of every project. However, if the robot is being carried or moved during project start, the sensor may fail to calibrate properly or yield incorrect calibration.

Usage:
brain_inertial.calibrate()

Parámetro	Descripción
	Este método no tiene parámetros.

# Start calibration
brain_inertial.calibrate()
# Print after calibration
while brain_inertial.is_calibrating():
    brain.screen.clear_screen()
    brain.screen.set_cursor(1, 1)
    brain.screen.print("Inertial Sensor")
    brain.screen.next_row()
    brain.screen.print("Calibrating")
    wait(50, MSEC)
brain.screen.clear_screen()
brain.screen.set_cursor(1, 1)
brain.screen.print("Done!")

set_heading #

set_heading() sets the heading of the Inertial Sensor to a specified value.

Usage:
brain_inertial.set_heading(value, units)

Parámetros	Descripción
`value`	El valor del encabezado a establecer.
`units`	Optional. The unit used to represent the new heading: `DEGREES` (default) `TURNS`

Parámetros

Descripción

value

El valor del encabezado a establecer.

units

Optional. The unit used to represent the new heading:

DEGREES (default)
TURNS

# Turn the robot around
brain_inertial.set_heading(180)
drivetrain.turn_to_heading(0)

set_rotation #

set_rotation() sets the rotation of the Inertial Sensor. Rotation is automatically set to 0 at the start of a project.

Usage:
brain_inertial.set_rotation(value, units)

Parámetros	Descripción
`value`	El valor de rotación a establecer.
`units`	Optional. The unit used to represent the new rotation value: `DEGREES` (default) `TURNS`

Parámetros

Descripción

value

El valor de rotación a establecer.

units

Optional. The unit used to represent the new rotation value:

DEGREES (default)
TURNS

# Turn the robot around
brain_inertial.set_rotation(-180)
drivetrain.turn_to_rotation(0)

is_calibrating #

is_calibrating checks if the Inertial Sensor is currently calibrating.

True — The Inertial Sensor is calibrating.
False — The Inertial Sensor is not calibrating.

Usage:
brain_inertial.is_calibrating()

Parámetro	Descripción
	Este método no tiene parámetros.

# Start calibration
brain_inertial.calibrate()
# Print while waiting for calibration
while brain_inertial.is_calibrating():
    brain.screen.clear_screen()
    brain.screen.set_cursor(1, 1)
    brain.screen.print("Inertial Sensor")
    brain.screen.next_row()
    brain.screen.print("Calibrating")
    wait(50, MSEC)
brain.screen.clear_screen()
brain.screen.set_cursor(1, 1)
brain.screen.print("Done!")

reset_heading #

reset_heading resets the heading of the Inertial Sensor to 0.

Usage:
brain_inertial.reset_heading()

Parámetros	Descripción
	Este método no tiene parámetros.

# Turn the robot before and after resetting the heading
drivetrain.turn_to_heading(90, DEGREES)
wait(0.5,SECONDS)
brain_inertial.reset_heading()
drivetrain.turn_to_heading(90, DEGREES)

reset_rotation #

reset_rotation resets the rotation of the Inertial Sensor to 0.

Usage:
brain_inertial.reset_rotation()

Parámetros	Descripción
	Este método no tiene parámetros.

# Turn the robot before and after resetting the rotation
drivetrain.turn_to_rotation(-90, DEGREES)
wait(0.5,SECONDS)
brain_inertial.reset_rotation()
drivetrain.turn_to_rotation(-90, DEGREES)

changed #

changed registers a function to be called when the Inertial Sensor’s heading changes.

Usage:
brain_inertial.changed(callback, arg)

Parámetros	Descripción
`callback`	Registers a function to be called when the Inertial Sensor heading changes.
`arg`	Opcional. Una tupla de argumentos para pasar a la función de devolución de llamada.

def heading_changed():
    brain.screen.set_cursor(1, 1)
    brain.screen.clear_screen()
    brain.screen.print("my heading ")
    brain.screen.next_row()
    brain.screen.print("has changed!")
    wait(0.1, SECONDS)
# Call the function when the inertial heading is changed
wait(1, SECONDS)
drivetrain.turn_for(RIGHT, 90, DEGREES, wait=False)
brain_inertial.changed(heading_changed)
wait(15, MSEC)

Movimiento #

acceleration #

acceleration returns the acceleration of the Inertial Sensor as a float.

Usage:
brain_inertial.acceleration(axis)

Parámetros	Descripción
eje	The axis to return the acceleration from: `XAXIS` `YAXIS` `ZAXIS`

# Display acceleration after moving
vexcode_brain_precision = 2
drivetrain.set_drive_velocity(100,PERCENT)
brain.screen.print("Resting: ")
brain.screen.next_row()
brain.screen.print(brain_inertial.acceleration(XAXIS))
brain.screen.next_row()
wait(1, SECONDS)
drivetrain.drive_for(FORWARD, 500, MM, wait=False)
wait(0.01,SECONDS)
brain.screen.print("Startup: ")
brain.screen.next_row()
brain.screen.print(brain_inertial.acceleration(XAXIS))

gyro_rate #

gyro_rate returns the gyro rate for one axis of the Inertial Sensor.

Usage:
brain_inertial.gyro_rate(axis, units)

Parámetros	Descripción
`axis`	The axis to return the gyro rate from: `XAXIS` `YAXIS` `ZAXIS`
`units`	Optional. The unit used to represent the gyro rate: `DPS` (default) — degrees per second `RPM` — rotations per minute `PERCENT`

Parámetros

Descripción

axis

The axis to return the gyro rate from:

XAXIS
YAXIS
ZAXIS

units

Optional. The unit used to represent the gyro rate:

DPS (default) — degrees per second
RPM — rotations per minute
PERCENT

# Display the z-axis gyro rate
drivetrain.turn(RIGHT)
wait(1, SECONDS)
brain.screen.print(brain_inertial.gyro_rate(ZAXIS, RPM))
drivetrain.stop()

orientation #

orientation returns the orientation for one axis of the Inertial Sensor.

Usage:
brain_inertial.orientation(axis, units)

Parámetros	Descripción
`axis`	The axis to return the orientation from: `ROLL` `PITCH` `YAW`
`units`	Optional. The unit used to represent the orientation: `DEGREES` (default) `TURNS`

Parámetros

Descripción

axis

The axis to return the orientation from:

ROLL
PITCH
YAW

units

Optional. The unit used to represent the orientation:

DEGREES (default)
TURNS

# Display the roll, pitch, and yaw of the Brain as it
# is rotated by hand
while True:
    brain.screen.clear_screen()
    brain.screen.print(brain_inertial.orientation(OrientationType.ROLL))
    brain.screen.next_row()
    brain.screen.print(brain_inertial.orientation(OrientationType.PITCH))
    brain.screen.next_row()
    brain.screen.print(brain_inertial.orientation(OrientationType.YAW))
    brain.screen.next_row()
    brain.screen.set_cursor(1, 1)
    wait(0.1,SECONDS)

Constructores #

Constructors are used to manually create Inertial objects, which are necessary for configuring an Inertial Sensor outside of VEXcode.

Inertial #

Inertial creates an Inertial Sensor.

Usage:
Inertial(smartport)

Parámetro	Descripción
`smartport`	Optional. If using the IQ (2nd gen) Brain’s built-in Inertial Sensor, a Smart Port is not needed. If connecting an external Inertial Sensor, specify the Smart Port that the Inertial Sensor is connected to, written as PORTx where x is the number of the port.

# Create a new object "brain_inertial" with the
# Inertial class
brain_inertial = Inertial()
left_drive_smart = Motor(Ports.PORT1, 1.0, False)
right_drive_smart = Motor(Ports.PORT6, 1.0, True)

drivetrain = SmartDrive(left_drive_smart, right_drive_smart, brain_inertial, 200)

brain_inertial.set_heading(180)
drivetrain.turn_to_heading(0)