Inercial#

Introducción #

An Inertial Sensor measures how the robot is moving and turning.

The Inertial Sensor uses two parts to do this. The gyroscope measures turning, such as heading, rotation, gyro rate, and orientation. The accelerometer measures changes in motion, such as speeding up or slowing down along the x-, y-, and z-axes.

Para que los comandos inerciales aparezcan en VEXcode V5, se debe configurar un sensor inercial en la ventana Dispositivos.

A continuación se muestra una lista de los métodos disponibles:

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

heading — Returns the direction the sensor is facing, from 0 to 359.99 degrees.
rotation — Returns how far the sensor has turned.
gyro_rate — Returns how fast the sensor is rotating on the selected axis.
orientation — Returns the Inertial Sensor’s roll, pitch, or yaw angle.
set_heading — Sets the Inertial Sensor’s current heading to a new heading value.
set_rotation — Sets the Inertial Sensor’s current rotation to a new rotation value.
calibrate — Calibrates the Inertial Sensor.
reset_heading — Resets the Inertial Sensor’s current heading to 0 degrees.
reset_rotation — Resets the Inertial Sensor’s current rotation to 0 degrees.
is_calibrating — Returns whether the Inertial Sensor is currently calibrating.
changed — Registers a function to run when the Inertial Sensor’s value changes.
installed — Checks if the Inertial Sensor is installed.

Motion — Measure acceleration, collisions, and turn direction behavior.

acceleration — Returns how quickly the sensor is speeding up or slowing down on the selected axis.
collision — Registers a function to run when the Inertial Sensor detects a collision.
set_turn_type — Sets which turn direction returns positive heading values.
get_turn_type — Returns which turn direction returns positive heading values.

Constructor

Inertial – Creates an Inertial Sensor.

Orientación #

heading #

A heading is the direction the sensor is facing, measured in degrees from 0 to 359.99. heading returns the sensor’s current heading as a float.

The starting heading is 0 degrees. If the sensor turns past 359.99 degrees, the heading wraps back to 0 degrees.

Usage:
inertial_1.heading(units)

Parámetros	Descripción
`units`	Optional. The heading unit: `DEGREES` (default) or `TURNS`

# Display the heading after turning
drivetrain.turn_for(RIGHT, 450, DEGREES)
brain.screen.print(inertial_1.heading())

rotation #

Rotation is how much the sensor has turned, measured in degrees. Unlike heading, rotation can increase past 359.99 degrees or decrease below 0 degrees. At the beginning of a project, the rotation value is set to 0 degrees. rotation returns the Inertial Sensor’s current rotation as a float.

Turning right increases the rotation, and turning left decreases the rotation. For example, making two full turns to the right will return a rotation of 720 degrees. Turning one full turn to the left from 0 degrees will return a rotation of -360 degrees.

Usage:
inertial_1.rotation(units)

Parámetros	Descripción
`units`	Optional. The rotation unit: `DEGREES` (default) or `TURNS`

# Display the rotation after turning
drivetrain.turn_for(RIGHT, 450, DEGREES)
brain.screen.print(inertial_1.rotation())

gyro_rate #

Gyro rate is how fast the Inertial Sensor is rotating. gyro_rate returns the current rotation speed of the Inertial Sensor on the selected axis as a float.

The value can be positive or negative depending on the direction the sensor is rotating on that axis.

Usage:
inertial_1.gyro_rate(axis, units)

Parámetros	Descripción
`axis`	The axis to return the gyro rate from: `AxisType.XAXIS` `AxisType.YAXIS` `AxisType.ZAXIS`
`units`	Optional. The gyro rate unit: `VelocityUnits.DPS` (default) `VelocityUnits.RPM` `VelocityUnits.PERCENT`

Parámetros

Descripción

axis

The axis to return the gyro rate from:

AxisType.XAXIS
AxisType.YAXIS
AxisType.ZAXIS

units

Optional. The gyro rate unit:

VelocityUnits.DPS (default)
VelocityUnits.RPM
VelocityUnits.PERCENT

# Display the rate of change of
# rotation while turning
drivetrain.turn(RIGHT)
wait(1, SECONDS)
brain.screen.print(inertial_1.gyro_rate(AxisType.ZAXIS, VelocityUnits.DPS))
drivetrain.stop()

orientation #

Orientation is the Inertial Sensor’s current angle on a selected turning axis. orientation returns the roll, pitch, or yaw of the Inertial Sensor, from -180.00 to 180.00 degrees, as a float.

Roll, pitch, and yaw describe different ways the sensor can tilt or turn.

Usage:
inertial_1.orientation(type, units)

Parámetros	Descripción
`type`	The orientation angle to return: `AxisType.PITCH` `AxisType.ROLL` `AxisType.YAW`
`units`	Optional. The orientation unit: `DEGREES` (default) `RotationUnits.TURNS`

Parámetros

Descripción

type

The orientation angle to return:

AxisType.PITCH
AxisType.ROLL
AxisType.YAW

units

Optional. The orientation unit:

DEGREES (default)
RotationUnits.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(inertial_1.orientation(AxisType.ROLL, DEGREES))
    brain.screen.next_row()
    brain.screen.print(inertial_1.orientation(AxisType.PITCH, DEGREES))
    brain.screen.next_row()
    brain.screen.print(inertial_1.orientation(AxisType.YAW, DEGREES))
    brain.screen.next_row()
    brain.screen.set_cursor(1, 1)
    wait(0.1, SECONDS)

set_heading #

A heading is the direction the sensor is facing, measured in degrees from 0 to 359.99. set_heading changes the Inertial Sensor’s current heading to a new heading value.

For example, if the sensor has turned to face right, setting the heading to 0 degrees makes that right-facing position the new 0 degrees. Then the sensor can track other headings based on that new direction.

Usage:
inertial_1.set_heading(value, units)

Parámetros	Descripción
`value`	The heading value, in degrees, to set for the sensor. This can be a value from 0 to 359.99.
`units`	Optional. The heading unit: `DEGREES` (default) or `TURNS`

# Turn the robot around
inertial_1.set_heading(180, DEGREES)
drivetrain.turn_to_heading(0)

set_rotation #

Rotation is how much the sensor has turned, measured in degrees. Unlike heading, rotation can increase past 359.99 degrees or decrease below 0 degrees. At the beginning of a project, the rotation value is set to 0 degrees. set_rotation changes the Inertial Sensor’s current rotation to a new value.

For example, if the sensor has made two full turns to the right, its rotation value will be 720 degrees. Setting the rotation to 0 degrees will reset that rotation from 720 to 0 degrees. Then the sensor can track rotations based on that new value.

Usage:
inertial_1.set_rotation(value, units)

Parámetros	Descripción
`value`	The rotation value, in degrees, to set for the sensor. This can be an integer or a decimal (float).
`units`	Optional. The rotation unit: `DEGREES` (default) or `TURNS`

# Turn the robot around
inertial_1.set_rotation(-180, DEGREES)
drivetrain.turn_to_rotation(0)

calibrate #

calibrate calibrates the Inertial Sensor.

Calibration helps the sensor measure turns correctly. Keep the sensor still during calibration. If the sensor moves during calibration, heading, rotation, gyro rate, and orientation values may not measure correctly.

The project will wait until calibration is done before the next line of code runs.

Usage:
inertial_1.calibrate()

Parámetros	Descripción
	Este método no tiene parámetros.

# Start calibration.
inertial_1.calibrate()
# Print that the Inertial Sensor is calibrating while
# waiting for it to finish calibrating.
while inertial_1.is_calibrating():
    brain.screen.clear()
    brain.screen.print("Inertial Sensor Calibrating")
    wait(50, MSEC)

reset_heading #

reset_heading resets the Inertial Sensor’s current heading to 0 degrees.

After this method is used, the sensor’s current direction becomes the new 0 degree heading.

Usage:
inertial_1.reset_heading()

Parámetros	Descripción
	Este método no tiene parámetros.

reset_rotation #

reset_rotation resets the Inertial Sensor’s current rotation to 0 degrees.

After this method is used, the sensor tracks future turns from the new 0 degree rotation value.

Usage:
inertial_1.reset_rotation()

Parámetros	Descripción
	Este método no tiene parámetros.

is_calibrating #

is_calibrating returns whether the Inertial Sensor is currently calibrating.

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

Usage:
inertial_1.is_calibrating()

Parámetros	Descripción
	Este método no tiene parámetros.

changed #

changed registers a function to be called whenever the Inertial Sensor’s value changes.

Usage:
inertial_1.changed(callback, arg)

Parámetros	Descripción
`callback`	Una función definida previamente que se ejecuta cuando cambia el valor del sensor inercial.
`arg`	Opcional. Una tupla que contiene los argumentos que se pasarán a la función de devolución de llamada. Consulte Uso de funciones con parámetros para obtener más información.

def my_function():
  brain.screen.print("Value changed!!")

# Call my_function whenever inertial_1's value changes
inertial_1.changed(my_function)

installed #

installed checks if the Inertial Sensor is installed.

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

Usage:
inertial_1.installed()

Parámetros	Descripción
	Este método no tiene parámetros.

Movimiento #

acceleration #

Acceleration is how quickly the sensor is speeding up or slowing down. acceleration returns the acceleration of the Inertial Sensor on the selected axis, from -4.0 G to 4.0 G, as a float.

A G is a unit used to measure acceleration. 1 G is about the acceleration you feel from gravity while sitting still.

The value can be positive or negative depending on the direction of acceleration on the selected axis. The axis options are AxisType.XAXIS, AxisType.YAXIS, and AxisType.ZAXIS.

Usage:
inertial_1.acceleration(type)

Parámetros	Descripción
`type`	The axis to measure acceleration on: `AxisType.XAXIS` `AxisType.YAXIS` `AxisType.ZAXIS`

Parámetros

Descripción

type

The axis to measure acceleration on:

AxisType.XAXIS
AxisType.YAXIS
AxisType.ZAXIS

# Return the acceleration for the Z axis of the Inertial Sensor
zaccel = inertial_1.acceleration(AxisType.ZAXIS)

collision #

collision registers a function to be called whenever the Inertial Sensor detects a sudden impact or collision.

Usage:
inertial_1.collision(callback, arg)

Parámetros	Descripción
`callback`	Una función definida previamente que se ejecuta cuando se detecta una colisión.
`arg`	Opcional. Una tupla que contiene los argumentos que se pasarán a la función de devolución de llamada. Consulte Uso de funciones con parámetros para obtener más información.

def my_function():
  brain.screen.print("Collision!")

# Call my_function whenever a collision is detected
inertial_1.collision(my_function)

set_turn_type #

set_turn_type sets which turn direction returns positive heading values.

Usage:
inertial_1.set_turn_type(turntype)

Parámetros	Descripción
`turntype`	The turn type to set: `LEFT` `RIGHT`

Parámetros

Descripción

turntype

The turn type to set:

LEFT
RIGHT

get_turn_type #

get_turn_type returns which turn direction returns positive heading values.

LEFT — Left turns return positive heading values.
RIGHT — Right turns return positive heading values.

Usage:
inertial_1.get_turn_type()

Parámetros	Descripción
	Este método no tiene parámetros.

Constructores #

Inertial #

Inertial creates an Inertial Sensor.

Usage:
Inertial(port)

Parámetros	Descripción
`port`	The Smart Port that the Inertial Sensor is connected to, from 1 to 21.

# Create a new object "inertial_1" with the Inertial class.
inertial_1 = Inertial(Ports.PORT1)