Rotation Sensor

Introduction

The V5 Rotation Sensor measures precise rotational movement, position, and speed relative to its position on the robot.

This page uses rotation_sensor as the example Rotation Sensor name. Replace it with your own configured name as needed.

Below is a list of available methods:

• set_position – Sets the current position of the Rotation Sensor to a specific value.

• angle – Returns the current angle of the sensor between 0 and 359.99 degrees.

• position – Returns the total rotational position in degrees or turns.

• velocity – Returns how fast the sensor is rotating.

• reset_position – Sets the current position of the Rotation Sensor to 0.

• set_reversed – Inverts the Rotation Sensor output so positive values become negative, and negative values become positive. This method works the same as setting the reverse parameter to True when using the Rotation constructor.

• changed – Registers a function to be called whenever whenever the Rotation Sensor’s value changes.

Constructor – Manually initialize a Rotation Sensor.

• Rotation – Creates a Rotation Sensor.

set_position

set_position sets the current position of the Rotation Sensor to a value in degrees.

Usage:
rotation_sensor.set_position(position, units)

Parameters	Description
position	The position to set the Rotation Sensor to.
units	Optional. The unit of measurement: DEGREES (default) TURNS

# Set the Rotation Sensor to 2.5 Turns
rotation_sensor.set_position(2.5, TURNS)

angle

angle returns the current angle of the sensor as a float.

Usage:
rotation_sensor.angle(units)

Parameters	Description
units	Optional. The unit of measurement: DEGREES (default) – 0 to 359.99 TURNS

position

position returns the total rotational position.

Usage:
rotation_sensor.position(units)

Parameters	Description
units	Optional. The unit of measurement: DEGREES (default) – 0 to 359 as an integer TURNS – As a float

velocity

velocity returns how fast the sensor is rotating.

Usage:
rotation_sensor.velocity(units)

Parameters	Description
units	The unit of measurement: VelocityUnits.RPM (default) – Rotations per minute VelocityUnits.DPS – Degrees per second

reset_position

reset_position sets the current position of the Rotation Sensor to 0.

Usage:
rotation_sensor.reset_position()

Parameters	Description
	This method has no parameters.

set_reversed

set_reversed inverts the Rotation Sensor output so positive values become negative, and negative values become positive. This method works the same as setting the reverse parameter to True when using the Rotation constructor.

Usage:
motor_1.set_reversed(value)

Parameters	Description
value	Boolean value to set the direction reversed or not: True – Reverse the motor’s direction False – Return the motor’s direction to its default

changed

changed registers a function to be called whenever the Rotation Sensor’s value changes.

Usage:
rotation_sensor.changed(callback, arg)

Parameters	Description
callback	A previously defined function that executes when the Rotation Sensor’s value changes.
arg	Optional. A tuple containing arguments to pass to the callback function. See Using Functions with Parameters for more information.

def my_function():
  brain.screen.print("Rotated!")

# Call my_function whenever rotation_sensor's value changes
rotation_sensor.changed(my_function)

Constructor

Constructors are used to manually create Rotation objects, which are necessary for configuring a Rotation Sensor outside of VEXcode.

Rotation

Rotation creates a Rotation Sensor.

Usage:
Rotation(smartport)

Parameter	Description
smartport	The Smart Port that the Rotation Sensor is connected to, written as Ports.PORTx where x is the number of the port.
reverse	Optional. Sets whether the Rotation Sensor’s output should be inverted. True False (default)

# Create an inverted Rotation Sensor in Port 10
rotation_sensor = Rotation(Ports.PORT10, True)