Inertial#

Introduction #

The GO Brain includes a built-in inertial sensor, which allows the robot to track its orientation, heading, and acceleration.

Below is a list of all methods:

Orientation

get_heading – Returns the current heading.
get_rotation – Returns the current rotation.
get_yaw – Returns the current yaw.
get_roll – Returns the current roll.
get_pitch – Returns the current pitch.
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.
set_heading – Sets the Inertial Sensor’s heading to a specified value.
set_rotation – Sets the Inertial Sensor’s rotation to a specified value.

Motion

get_acceleration – Returns the linear acceleration along the x, y, or z axis.

Orientation #

get_heading #

get_heading returns the current heading of the Inertial Sensor in degrees.

Note: If a drivetrain is configured, this command becomes drivetrain.get_heading().

Usage:
inertial.get_heading()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Display the heading after turning
    drivetrain.turn_for(RIGHT, 450)
    console.print("Heading: ")
    console.print(inertial.get_heading())


# Start threads — Do not delete
start_thread(main)

get_rotation #

get_rotation returns the current rotation of the Inertial Sensor in degrees.

Note: If a drivetrain is configured, this command becomes drivetrain.get_rotation().

Usage:
inertial.get_rotation()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Display the rotation after turning
    drivetrain.turn_for(RIGHT, 450)
    console.print("Rotation: ")
    console.print(inertial.get_rotation())

# Start threads — Do not delete
start_thread(main)

get_yaw #

get_yaw returns the current yaw of the Inertial Sensor in degrees.

Note: If a drivetrain is configured, this command becomes drivetrain.get_yaw().

Usage:
inertial.get_yaw()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Change the LED color based on the yaw while
    # moving the robot by hand
    monitor_sensor("inertial.get_yaw")
    while True:
        if inertial.get_yaw() > 0:
            bumper.set_color(GREEN)
        elif inertial.get_yaw() < 0:
            bumper.set_color(RED)
        else:
            bumper.set_color(NONE)

# Start threads — Do not delete
start_thread(main)

get_roll #

get_roll returns the current roll of the Inertial Sensor in degrees.

Note: If a drivetrain is configured, this command becomes drivetrain.get_roll().

Usage:
inertial.get_roll()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Change the LED color based on the roll while
    # moving the robot by hand
    monitor_sensor("inertial.get_roll")
    while True:
        if inertial.get_roll() > 0:
            bumper.set_color(GREEN)
        elif inertial.get_roll() < 0:
            bumper.set_color(RED)
        else:
            bumper.set_color(NONE)

# Start threads — Do not delete
start_thread(main)

get_pitch #

get_pitch returns the current pitch of the Inertial Sensor in degrees.

Note: If a drivetrain is configured, this command becomes drivetrain.get_pitch().

Usage:
inertial.get_pitch()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Change the LED color based on the pitch while
    # moving the robot by hand
    monitor_sensor("inertial.get_pitch")
    while True:
        if inertial.get_pitch() > 0:
            bumper.set_color(GREEN)
        elif inertial.get_pitch() < 0:
            bumper.set_color(RED)
        else:
            bumper.set_color(NONE)

# Start threads — Do not delete
start_thread(main)

calibrate calibrates the Inertial Sensor. All subsequent lines will wait for the calibration to complete before executing. Calibration is an internal procedure that measures and compensates for sensor noise and drift over a specified period. During this time, the Brain must remain completely still (i.e., on a stable surface without any external movement). Movement during calibration will produce inaccurate results.

Note: If a drivetrain is configured, this method becomes unavailable.

Usage:
inertial.calibrate()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Calibrate the robot
    console.print("Calibrating...")
    console.new_line()
    inertial.calibrate()
    console.print("Done!")

# Start threads — Do not delete
start_thread(main)

reset_heading #

reset_heading resets the heading of the Inertial Sensor to 0 degrees.

Note: If a drivetrain is configured, this method becomes unavailable.

Usage:
inertial.reset_heading()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Turn the robot before and after resetting the heading
    drivetrain.turn_to_heading(90)
    wait(0.5, SECONDS)
    inertial.reset_heading()
    drivetrain.turn_to_heading(90)

# Start threads — Do not delete
start_thread(main)

reset_rotation #

reset_rotation resets the rotation of the Inertial Sensor to 0 degrees.

Note: If a drivetrain is configured, this method becomes unavailable.

Usage:
inertial.reset_rotation()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Turn the robot before and after resetting the rotation
    drivetrain.turn_to_rotation(-90)
    wait(0.5, SECONDS)
    inertial.reset_rotation()
    drivetrain.turn_to_rotation(-90)

# Start threads — Do not delete
start_thread(main)

set_heading #

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

Note: If a drivetrain is configured, this command becomes drivetrain.set_heading().

Usage:
inertial.set_heading(heading)

Parameters	Description
`heading`	The heading value to set in degrees.

# Build Used: Super Code Base 2.0
def main():
    # Turn the robot around
    inertial.set_heading(180)
    drivetrain.turn_to_heading(0)

# Start threads — Do not delete
start_thread(main)

set_rotation #

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

Note: If a drivetrain is configured, this command becomes drivetrain.set_rotation().

Usage:

inertial.set_rotation(rotation)

Parameters	Description
`rotation`	The value to use for the new rotation in degrees.

# Build Used: Super Code Base 2.0
def main():
    # Turn the robot around
    inertial.set_rotation(-180)
    drivetrain.turn_to_rotation(0)

# Start threads — Do not delete
start_thread(main)

Motion #

get_acceleration #

get_acceleration returns the acceleration of the Inertial Sensor.

Usage:
inertial.get_acceleration(axis)

Parameters	Description
`axis`	The axis to return the acceleration from: `X` `Y` `Z`

Parameters

Description

axis

The axis to return the acceleration from:

# Build Used: Super Code Base 2.0
def main():
    # Display the acceleration after moving
    drivetrain.set_drive_velocity(100)
    console.print("Resting: ")
    console.new_line()
    console.print(inertial.get_acceleration(X), precision=2)
    console.new_line()
    wait(1, SECONDS)
    drivetrain.drive_for(FORWARD, 500, MM, wait=False)
    wait(0.20,SECONDS)
    console.print("Startup: ")
    console.new_line()
    console.print(inertial.get_acceleration(X), precision=2)

# Start threads — Do not delete
start_thread(main)