Rotation#

Initializing the Rotation Class #

A Rotation Sensor is created by using the following constructor:

Rotation(port, reverse)

This constructor use one parameter:

Parameter	Description
`port`	A valid Smart Port that the Rotation Sensor is connected to.
`reverse`	Optional. Set to `True` to reverse the angle and position returned by the Rotation Sensor. The default is `False`.

# Construct a Rotation Sensor "rotation" with the
# Rotation class.
rotation = Rotation(Ports.PORT1)

This rotation object will be used in all subsequent examples throughout this API documentation when referring to Rotation class methods.

Class Methods #

set_reversed()#

The set_reversed(value) method sets the rotation direction to be reversed.

This is a non-waiting method and allows the next method to run without delay.

Parameters	Description
value	`True` to reverse the motor direction. `False` to maintain the normal direction.

Returns: None.

# Set the direction to be reversed.
rotation.set_reversed(True)

angle()#

The angle(units) method returns the angle measured by the Rotation Sensor.

Parameters	Description
units	Optional. A valid RotationUnits type. The default is `DEGREES`.

Returns: The angle measured by the Rotation Sensor in the specified units.

# Print the current angle of the Rotation Sensor to the
# Brain's screen.
brain.screen.print(rotation.angle())

reset_position()#

The reset_position() method resets the position of the Rotation Sensor to 0.

Returns: None.

set_position()#

The set_position(value, units) method sets the position of the Rotation Sensor. The position returned by the position() method is set to this value.

Parameters	Description
value	The position value to set.
units	Optional. A valid RotationUnits type. The default is `DEGREES`.

Returns: None.

position()#

The position(units) method returns the current position of the Rotation Sensor.

Parameters	Description
units	Optional. A valid RotationUnits type. The default is `DEGREES`.

Returns: The current position of the Rotation Sensor in the specified units.

velocity()#

The velocity(units) method returns the velocity of the Rotation Sensor.

Parameters	Description
units	Optional. A valid VelocityUnits type. The default is `RPM`.

Returns: The velocity of the Rotation Sensor in the specified units.

changed()#

The changed(callback, arg) method registers a callback function for when the value measured by the Rotation Sensor changes.

Parameters	Description
callback	The callback function to be called when the value measured by the Rotation Sensor changes.
arg	Optional. A tuple of arguments to pass to the callback function.

Returns: None

# Define a function rotation_changed().
def rotation_changed():
    # The Brain will print that the rotation value changed
    # on the Brain's screen.
    brain.screen.print("rotation value changed")

# Run rotation_changed when the value of the
# Rotation Sensor changes.
rotation.changed(rotation_changed)

installed()#

The installed() method checks if the Rotation Sensor is connected.

Returns: True if the Rotation Sensor is installed. False if it is not.

timestamp()#

The timestamp() method returns the timestamp of the last received status packet from the Rotation Sensor.

Returns: The timestamp of the last received status packet in milliseconds.