Sensor de rotación

Introducción

El sensor de rotación V5 mide el movimiento de rotación preciso, la posición y la velocidad en relación con su posición en el robot.

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

A continuación se muestra una lista de los métodos disponibles:

• set_position – Sets the current position of the Rotation Sensor to a specific value.

• angle – Returns the current angle of the sensor between 0 and 359.99 degrees.

• position – Returns the total rotational position in degrees or turns.

• velocity – Returns how fast the sensor is rotating.

• reset_position – Sets the current position of the Rotation Sensor to 0.

• set_reversed – Inverts the Rotation Sensor output so positive values become negative, and negative values become positive. This method works the same as setting the reverse parameter to True when using the Rotation constructor.

• changed – Registers a function to be called whenever whenever the Rotation Sensor’s value changes.

Constructor – Inicializa manualmente un sensor de rotación.

• Rotation – Creates a Rotation Sensor.

establecer_posición

set_position sets the current position of the Rotation Sensor to a value in degrees.

Usage:
rotation_sensor.set_position(position, units)

Parámetros	Descripción
posición	La posición donde se debe colocar el sensor de rotación.
unidades	Optional. The unit of measurement: DEGREES (default) TURNS

# Set the Rotation Sensor to 2.5 Turns
rotation_sensor.set_position(2.5, TURNS)

ángulo

angle returns the current angle of the sensor as a float.

Usage:
rotation_sensor.angle(units)

Parámetros	Descripción
unidades	Optional. The unit of measurement: DEGREES (default) – 0 to 359.99 TURNS

posición

position returns the total rotational position.

Usage:
rotation_sensor.position(units)

Parámetros	Descripción
unidades	Optional. The unit of measurement: DEGREES (default) – 0 to 359 as an integer TURNS – As a float

velocidad

velocity returns how fast the sensor is rotating.

Usage:
rotation_sensor.velocity(units)

Parámetros	Descripción
unidades	The unit of measurement: VelocityUnits.RPM (default) – Rotations per minute VelocityUnits.DPS – Degrees per second

restablecer_posición

reset_position sets the current position of the Rotation Sensor to 0.

Usage:
rotation_sensor.reset_position()

Parámetros	Descripción
	Este método no tiene parámetros.

conjunto_invertido

set_reversed inverts the Rotation Sensor output so positive values become negative, and negative values become positive. This method works the same as setting the reverse parameter to True when using the Rotation constructor.

Usage:
motor_1.set_reversed(value)

Parámetros	Descripción
value	Boolean value to set the direction reversed or not: True – Reverse the motor’s direction False – Return the motor’s direction to its default

cambió

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

Usage:
rotation_sensor.changed(callback, arg)

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

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

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

Constructor

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

Rotation

Rotation creates a Rotation Sensor.

Usage:
Rotation(smartport)

Parámetro	Descripción
smartport	The Smart Port that the Rotation Sensor is connected to, written as Ports.PORTx where x is the number of the port.
reverse	Optional. Sets whether the Rotation Sensor’s output should be inverted. True False (default)

# Create an inverted Rotation Sensor in Port 10
rotation_sensor = Rotation(Ports.PORT10, True)