Inercial#

Introduction #

The Inertial Sensor measures the rotation and orientation of the V5 robot. The sensor can report movement along the x, y, and z axes and can be used to determine heading, rotation, and tilt. The sensor can also measure its acceleration 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.

Below is a list of available methods:

Orientation

heading – Returns the current heading.
rotation – Returns the current rotation.
gyro_rate – Returns the gyro rate for one axis of the Inertial Sensor.
orientation – Returns the orientation for one axis of the Inertial Sensor.
set_heading – Sets the Inertial Sensor’s heading to a specified value.
set_rotation – Sets the Inertial Sensor’s rotation value.
calibrate – Calibrates the Inertial Sensor for stable heading tracking.
reset_heading – Sets the heading of the Inertial Sensor to 0.
reset_rotation – Sets the rotation of the Inertial Sensor to 0.
is_calibrating – Returns whether or not the Inertial Sensor is calibrating.
changed – Registers a callback function for when the Inertial Sensor’s heading changes.
installed – Checks if the Inertial Sensor is installed.

Motion

acceleration – Returns the linear acceleration along the x, y, or z axis.
collision – Registers a callback function for when the Inertial Sensor detects a collision.
set_turn_type – Sets the direction that returns positive values for the heading.
get_turn_type – Returns the direction that returns positive values for heading.

Constructor

Inertial – Creates an Inertial Sensor.

Orientation #

heading #

heading returns the current heading of the Inertial Sensor in the specified units as a float.

Usage:

inertial_1.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(inertial_1.heading())

rotation #

rotation returns the current rotation of the Inertial Sensor in the specified units as a float.

Usage:

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

gyro_rate #

gyro_rate returns the gyro rate for one axis of the Inertial Sensor in the specified units as a float.

Usage:

inertial_1.gyro_rate(axis, units)

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

Parámetros

Descripción

type

The axis to return the gyro rate from:

AxisType.XAXIS
AxisType.YAXIS
AxisType.ZAXIS

units

Optional. The unit used to represent the gyro rate:

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 returns the orientation for one axis of the Inertial Sensor as a float.

Usage:

inertial_1.orientation(type, units)

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

Parámetros

Descripción

type

The axis to return the orientation from:

AxisType.PITCH
AxisType.ROLL
AxisType.YAW

units

Optional. The unit used to represent the orientation:

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 #

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

Usage:

inertial_1.set_heading(value, units)

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

Parámetros

Descripción

value

El valor del encabezado a establecer.

units

Optional. The unit used to represent the heading:

DEGREES (default)
TURNS

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

set_rotation #

set_rotation sets the rotation of the Inertial Sensor to a specified value.

Usage:

inertial_1.set_rotation(value, units)

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

Parámetros

Descripción

value

El valor de rotación a establecer.

units

Optional. The unit used to represent the rotation:

DEGREES (default)
TURNS

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

calibrate #

calibrate calibrates the Inertial Sensor. Calibration should be done when the Inertial Sensor is not moving. Allow at least 2 seconds for calibration to complete.

Usage:

inertial_1.calibrate()

Parámetros	Descripción
	This method has no parameters.

# 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 heading of the Inertial Sensor to 0.

Usage:

inertial_1.reset_heading()

Parámetros	Descripción
	This method has no parameters.

reset_rotation #

reset_rotation resets the rotation of the Inertial Sensor to 0.

Usage:

inertial_1.reset_rotation()

Parámetros	Descripción
	This method has no parameters.

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:

inertial_1.is_calibrating()

Parámetros	Descripción
	This method has no parameters.

# 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)

changed #

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

Usage:
inertial_1.changed(callback, arg)

Parámetros	Descripción
`callback`	A previously defined function that executes when the Inertial Sensor’s value changes.
`arg`	Optional. A tuple containing arguments to pass to the callback function. See Using Functions with Parameters for more information.

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
	This method has no parameters.

Motion #

acceleration #

acceleration returns the acceleration of the Inertial Sensor along the specified axis as a float.

Usage:

inertial_1.acceleration(type)

Parámetros	Descripción
`type`	The axis to return the acceleration from: `AxisType.XAXIS` `AxisType.YAXIS` `AxisType.ZAXIS`

Parámetros

Descripción

type

The axis to return the acceleration from:

AxisType.XAXIS
AxisType.YAXIS
AxisType.ZAXIS

# Get 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 collision.

Usage: inertial_1.collision(callback, arg)

Parámetros	Descripción
`callback`	A previously defined function that executes when a collision is detected.
`arg`	Optional. A tuple containing arguments to pass to the callback function. See Using Functions with Parameters for more information.

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 the direction that returns positive values for the heading.

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 the direction that returns positive values for heading.

LEFT - The turn type is left.
RIGHT - The turn type is right.

Usage:

inertial_1.get_turn_type()

Parámetros	Descripción
	This method has no parameters.

Constructors #

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)