Gyro Sensor

Introduction

The VEX IQ (1st gen) Gyro Sensor measures rotational movement around a single axis. It is used to track changes in heading as a robot turns.

Below is a list of all blocks:

• calibrate gyro — Calibrates an external Gyro Sensor for stable heading tracking.

• set Gyro heading — Sets the sensor’s heading to a specified value.

• set Gyro rotation — Sets the sensor’s rotation value.

• angle of Gyro heading — Returns the sensor’s current heading.

• angle of Gyro rotation — Returns the sensor’s cumulative rotation.

• rate of gyro — Returns the angular velocity.

calibrate gyro

The calibrate gyro block calibrates a Gyro Sensor. All subsequent blocks 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 Gyro Sensor must remain completely still (i.e., on a stable surface without any external movement). Movement during calibration will produce inaccurate results.

Note: This block is only available if there is a configured Gyro Sensor outside of a drivetrain.

    calibrate [Gyro1 v] for [2 v] seconds

Parameters	Description
gyro	The Gyro Sensor to calibrate.
duration	How long to calibrate the sensor for in seconds: 2 4 8

Example

    when started
    [Calibrate a Gyro Sensor and display its angle of heading.]
    calibrate [Gyro1 v] for [2 v] seconds
    print ([Gyro1 v] heading in degrees) on [Brain v] ◀ and set cursor to next row

set Gyro heading

The set Gyro heading block sets the Gyro Sensor’s heading to a specified value.

    set [Gyro1 v] heading to (0) degrees

Parameters	Description
gyro	The Gyro Sensor to set the heading of.
heading	The value to use for the new heading in the range 0 to 359.99 degrees.

Example

    when started
    [Turn to the new 0 degrees heading.]
    set [Gyro1 v] heading to (90) degrees
    turn to heading (0) degrees ▶

set Gyro rotation

The set Gyro rotation block sets the Gyro Sensor’s heading to a specified value.

    set [Gyro1 v] rotation to (0) degrees

Parameters	Description
gyro	The Gyro Sensor to set the rotation of.
rotation	The value to use for the new rotation as a decimal number or integer.

Example

    when started
    [Turn to the new 0 rotation.]
    set [Gyro1 v] rotation to (-100) degrees
    turn to rotation (0) degrees ▶

angle of Gyro heading

The angle of Gyro heading block returns the Gyro Sensor’s heading angle as a decimal number, in the range 0 to 359.99 degrees.

    ([Gyro1 v] heading in degrees)

Parameters	Description
gyro	The Gyro Sensor to return the heading from.

Example

    when started
    [Display the Gyro Sensor's heading before and after rotating.]
    print ([Gyro1 v] heading in degrees) on [Brain v] ◀ and set cursor to next row
    turn [right v] for (390) degrees ▶
    print ([Gyro1 v] heading in degrees) on [Brain v] ◀ and set cursor to next row

angle of Gyro rotation

The angle of Gyro rotation block returns how much the Gyro Sensor has turned since it started, in degrees as a decimal number: positive for clockwise, negative for counterclockwise.

    ([Gyro1 v] rotation in degrees)

Parameters	Description
gyro	The Gyro Sensor to return the rotation from.

Example

    when started
    [Display the Gyro Sensor's angle of rotation before and after rotating.]
    print ([Gyro1 v] rotation in degrees) on [Brain v] ◀ and set cursor to next row
    turn [right v] for (390) degrees ▶
    print ([Gyro1 v] rotation in degrees) on [Brain v] ◀ and set cursor to next row

rate of gyro

The rate of gyro block returns the Gyro Sensor’s current rotation speed in dps.

    ([Gyro1 v] rate in dps)

Parameters	Description
gyro	The Gyro Sensor to return the rotation speed from.

Example

    when started
    [Display the Gyro Sensor's current rotation speed.]
    turn [right v]
    wait (1) seconds
    print ([Gyro1 v] rate in dps) on [Brain v] ◀ and set cursor to next row