Gyro#

Initializing the Gyro Class #

The Gyro constructor creates a Gyro object in the specified Smart Port:

This constructor uses one parameter:

Parameter	Description
`port`	A valid Smart Port that the Gyro Sensor is connected to.

# Create the Brain.
brain = Brain()
# Construct a Gyro Sensor "gyro" with the
# Gyro class.
gyro = Gyro(Ports.PORT1)

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

Class Methods #

calibrate()#

The calibrate() method calibrates the Gyro Sensor. Calibration should be done when the Gyro Sensor is not moving.

Returns: None.

# Start Gyro Sensor calibration.
gyro.calibrate()
# Print that the Gyro Sensor is calibrating while waiting for it to finish calibrating.
while gyro.is_calibrating():
    brain.screen.clear()
    brain.screen.print("Gyro Sensor is calibrating.")
    wait(50, MSEC)

is_calibrating()#

The is_calibrating() method checks if the Gyro Sensor is currently calibrating.

Returns: True if the Gyro Sensor is calibrating. False if it is not.

# Start Gyro Sensor calibration.
gyro.calibrate()
# Print that the Gyro Sensor is calibrating while waiting for it to finish calibrating.
while gyro.is_calibrating():
    brain.screen.clear()
    brain.screen.print("Gyro Sensor is calibrating.")
    wait(50, MSEC)

reset_heading()#

The reset_heading() method resets the heading of the Gyro Sensor to 0. Returns: None.

reset_rotation()#

The reset_rotation() method resets the rotation of the Gyro Sensor to 0.

Returns: None.

set_heading()#

The set_heading(value, units) method sets the heading of the Gyro Sensor to a specific value.

Parameters	Description
value	The value to use for the new heading.
units	Optional. A valid RotationUnits type. The default is `DEGREES`.

Returns: None.

# Set the value of the Gyro Sensor's heading to 180 degrees.
gyro.set_heading(180)

set_rotation()#

The set_rotation(value, units) method sets the rotation of the Gyro Sensor.

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

Returns: None.

# Set the value of the Gyro Sensor's rotation to 180 degrees.
gyro.set_rotation(180)

heading()#

The heading(units) method returns the current heading of the Gyro Sensor.

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

Returns: The current heading of the Gyro Sensor in the specified units.

# Print the value of the current heading of the Gyro Sensor
# to the Brain's screen.
brain.screen.print(gyro.heading())

rotation()#

The rotation(units) method returns the current rotation of the Gyro Sensor.

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

Returns: The current rotation of the Gyro Sensor in the specified units.

# Print the value of the current rotation of the Gyro Sensor
# to the Brain's screen.
brain.screen.print(gyro.rotation())

set_turn_type()#

The set_turn_type(turntype) method sets the direction that returns positive values for the heading.

Parameters	Description
turntype	A valid TurnType.

Returns: None.

# Set the turn type to left.
gyro.set_turn_type(LEFT)

# Set the turn type to right.
gyro.set_turn_type(RIGHT)

get_turn_type()#

The get_turn_type() method returns the direction that returns positive values for heading.

Returns: The turn type of the Gyro Sensor in the specified units.

changed()#

The changed(callback, arg) method registers a callback function for when the Gyro Sensor’s heading changes.

Parameters	Description
callback	The callback function to be called when the Gyro Sensor’s heading changes.
arg	Optional. A tuple of arguments to pass to the callback function.

Returns: An instance of the Event class.

# Define a function gyro_changed.
def gyro_changed():
    # The Brain will print that the heading changed on
    # the Brain's screen.
    brain.screen.print("heading changed") 
# Run gyro_changed() when the Gyro Sensor's heading changes.
gyro.changed(gyro_changed)

rate()#

The rate(units) method returns the current rate of change of the Gyro Sensor of rotation in specified units.

Parameters	Description
units	Optional. A valid VelocityUnit. The default is `DPS`.

Returns: The gyro rate of rotation in the specified units.

installed()#

The installed() method returns if the Gyro Sensor is connected to the Brain.

Returns: True if the Gyro Sensor is connected to the Brain. False if it is not.