Gyro Sensor

Introduction

The gyro class is used with a Gyro Sensor to measure rotational movement around a single axis. It can track which direction the robot is facing and how far the robot has turned.

Class Constructor

gyro(
    int32_t index );

Class Destructor

Destroys the gyro object and releases associated resources.

virtual ~gyro();

Parameters

Parameter	Type	Description
index	int32_t	The Smart Port that the Gyro Sensor is connected to, written as PORTx, where x is the port number (for example, PORT1).

Example

// Create a gyro instance in Port 1
gyro Gyro1 = gyro(PORT1);

Member Functions

The gyro class includes the following member functions:

• calibrate — Calibrates the Gyro Sensor.

• setHeading — Sets the Gyro Sensor’s current heading to a new heading value.

• setRotation — Sets the Gyro Sensor’s current rotation to a new rotation value.

• heading — Returns the direction the Gyro Sensor is facing.

• rotation — Returns how far the Gyro Sensor has turned.

• rate — Returns how fast the Gyro Sensor is rotating.

Before calling any gyro member functions, a gyro instance must be created, as shown below:

/* This constructor is required when using VS Code.
Gyro Sensor configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create a gyro instance in Port 1
gyro Gyro1 = gyro(PORT1);

calibrate

Calibrates the Gyro Sensor.

Available Functions

void calibrate();

Parameters

This function does not accept any parameters.

Return Values

This function does not return a value.

Notes

• Calibration helps the Gyro Sensor measure turns correctly. Keep the sensor still during calibration. If the sensor moves during calibration, heading, rotation, and rate values may not measure turns correctly.

Examples

// Calibrate the Gyro Sensor before turning.
Gyro1.calibrate();

setHeading

Sets the Gyro Sensor’s current heading to a specific value.

A heading is the direction the Gyro Sensor is facing, measured from 0 to 359.99 degrees. Setting the heading changes the sensor’s current direction reference.

Available Functions

void setHeading(
  double        value,
  rotationUnits units );

Parameters	Type	Description
value	double	The value to use for the new heading.
units	rotationUnits	The unit that represents the heading: degrees turns

Return Values

This function does not return a value.

setRotation

Sets the Gyro Sensor’s current rotation to a specific value.

Rotation is how much the Gyro Sensor has turned. Unlike heading, rotation can increase past 359.99 degrees or decrease below 0 degrees.

Available Functions

void setRotation(
  double        value,
  rotationUnits units );

Parameters

Parameters	Type	Description
value	double	The value to use for the new rotation value.
units	rotationUnits	The unit that represents the rotation value: degrees turns

Return Values

This function does not return a value.

heading

Returns the current heading of the Gyro Sensor.

A heading is the direction the Gyro Sensor is facing, measured from 0 to 359.99 degrees. If the sensor turns past 359.99 degrees, the heading wraps back to 0 degrees.

Available Functions

double heading(
  rotationUnits units = degrees );

Parameters

Parameter	Type	Description
units	rotationUnits	The unit that represents the heading: degrees (default) turns

Return Values

Returns a double representing the current heading of the Gyro Sensor in the specified units, defaulting to degrees.

Examples

// Get the current heading for the Gyro.
double value = Gyro1.heading();
Brain.Screen.print(value);

rotation

Returns the current rotation of the Gyro Sensor.

Rotation is how much the Gyro Sensor has turned. Unlike heading, rotation can increase past 359.99 degrees or decrease below 0 degrees. For example, making two full turns to the right returns a rotation of 720 degrees. Turning one full turn to the left from 0 degrees returns a rotation of -360 degrees.

Available Functions

double rotation(
  rotationUnits units = degrees );

Parameters

Parameter	Type	Description
units	rotationUnits	The unit that represents the rotation value: degrees (default) turns

Return Values

Returns a double representing the current rotation value of the Gyro Sensor in the specified units, defaulting to degrees.

Examples

// Get the current rotation for the Gyro.
double value = Gyro1.rotation();
Brain.Screen.print(value);

rate

Returns the turning rate of the Gyro Sensor.

Turning rate is how fast the Gyro Sensor is rotating. The value can be positive or negative depending on the direction the sensor is rotating.

Available Functions

double rate(
  rateUnits units = rateUnits::dps );

Parameters

| Parameter | Type | Description | | :—————-: | :————————————– | | units | rateUnits | The unit that represents the rate:

• rateUnits::dps (default) — degrees per second
• rateUnits::rpm — rotations per minute

|

Return Values

Returns a double representing the current rate of change of the Gyro Sensor in the specified units, defaulting to rateUnits::dps.