GPS Sensor

Introduction

The V5 GPS (Game Positioning System™) Sensor provides accurate position and orientation tracking for a robot on the VEX Field. It uses the GPS Field Code around the Field’s perimeter to calculate the robot’s X and Y coordinates and heading in real time.

The GPS Sensor returns the robot’s position using a reference point automatically calculated from the offsets entered when configuring the GPS Sensor in the Devices window.

For more information about the GPS Sensor, read Using the GPS Sensor with VEX V5 in the VEX Library.

The reference point acts as the GPS Sensor’s own (0, 0) position where all coordinates, headings, and movements returned by GPS blocks are relative to this configured point.

Below is a list of available blocks:

• calibrate GPS – Calibrates the GPS Sensor to set its heading as the current drivetrain heading.

• set GPS location – Sets the reference point’s position and heading on the Field.

• GPS position – Returns the reference point’s x or y coordinate on the Field.

• GPS heading – Returns the reference point’s heading based on the Field orientation.

• GPS acceleration – Returns the robot’s acceleration on a selected axis.

• GPS gyro rate – Returns the robot’s rotational speed on a selected axis.

• GPS orientation – Returns the robot’s roll, pitch, or yaw orientation in degrees.

• GPS signal quality – Returns the signal strength of the GPS Sensor.

• when GPS heading changed – Runs the attached stack whenever the GPS Sensor detects a change in heading.

calibrate GPS

The calibrate GPS block calibrates the reference point, setting its configured heading as the current drivetrain heading. During this time, the robot must remain completely still as movement during calibration will produce inaccurate results.

calibrar [GPS 1 v]

Parameters	Description
device	Which GPS Sensor to use, configured in the Devices window.

set GPS location

The set GPS location block sets the position and heading of the reference point on the Field manually. This can be done to help reduce inaccuracies if the GPS Sensor is too close to the Field’s walls on startup to get a sufficient amount of the GPS Field Code in its view.

Establezca la ubicación [GPS 1 v] en [0] [0] [mm v] y [0] grados

Parameters	Description
device	Which GPS Sensor to use, configured in the Devices window.
x	The x coordinate of the reference point on the Field.
y	The y coordinate of the reference point on the Field.
coordinates unit	The unit of measurement for the x and y coordinates: mm – millimeters inches
heading	The heading the reference point is facing relative to the absolute Field heading from 0 to 359.9 degrees.

GPS position

The GPS position block returns the reference point’s x or y coordinate on the Field.

([GPS 1 v] posición [X v] en [mm v])

Parameters	Description
device	Which GPS Sensor to use, configured in the Devices window.
axis	Which axis to use: X Y
unit	The unit of measurement: mm – millimeters inches

GPS heading

The GPS heading block returns the reference point’s heading based on the Field’s orientation from 0 to 359.9 degrees.

The heading corresponds to the absolute Field heading, which is a range of 0º to 359.9º in the clockwise direction. The 0º is in the 12 o’clock position.

([GPS 1 v] rumbo en grados)

Parameters	Description
device	Which GPS Sensor to use, configured in the Devices window.

GPS acceleration

The GPS acceleration block returns the robot’s acceleration on a specified axis from -4.0 to 4.0 Gs.

([GPS 1 v] aceleración de [X v] eje en g)

Parameters	Description
device	Which GPS Sensor to use, configured in the Devices window.
axis	Which axis to use: X Y Z

GPS gyro rate

The GPS gyro rate block returns the robot’s rotational speed on a selected axis.

([GPS 1 v] velocidad de giro de [X v] eje en [dps v])

Parameters	Description
device	Which GPS Sensor to use, configured in the Devices window.
axis	Which axis to use: X Y Z
unit	The unit of measurement: dps – degrees per second, from -1000 to 1000 rpm – revolutions per minute, from -167 to 167

GPS orientation

The GPS orientation block returns the robot’s roll, pitch, or yaw orientation in degrees.

([GPS 1 v] orientación de [rollo v] en grados)

Parameters	Description
device	Which GPS Sensor to use, configured in the Devices window.
orientation	Which orientation to return: roll pitch yaw

GPS signal quality

The GPS signal quality block returns the signal strength of the GPS Sensor as a percent.

Possible Values	Description
100	All reported positional and heading data from the GPS Sensor is valid.
~90	Any positional data is no longer being calculated by capturing information from the GPS Field Code, but rather through alternative means.
0 - 80	Only GPS Sensor heading values are valid, but as more time goes by where a GPS Sensor is not scanning enough of the GPS Field Code to accurately determine position and heading information, the reported signal quality will continue to drop until 0, where any GPS Sensor data is effectively frozen and no longer valid.

([GPS 1 v] calidad de señal en %)

Parameters	Description
device	Which GPS Sensor to use, configured in the Devices window.

when GPS heading changed

The when GPS heading changed block runs the attached stack whenever the GPS Sensor detects a change in heading.

cuando cambió el rumbo [GPS 1 v] :: hat events

Parameters	Description
device	Which GPS Sensor to use, configured in the Devices window.