陀螺仪#

初始化陀螺仪类#

使用以下构造函数创建陀螺仪传感器：

Gyro(port)

此构造函数使用一个参数：

范围

描述

port

陀螺仪传感器所连接的 3 线端口，无论是 Brain 上的端口，还是 3 线扩展器 上的端口。

必须先创建 Brain 或 3-Wire Expander，然后才能使用 Gyro 类构造函数创建对象。

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

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

类方法#

calibrate()#

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

**返回：**无。

# 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.

**返回：**无。

set_heading()#

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

参数

描述

价值

用于新标题的值。

单位

Optional. A valid RotationUnits type. The default is DEGREES.

**返回：**无。

# 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.

参数

描述

价值

要设置的旋转值。

单位

Optional. A valid RotationUnits type. The default is DEGREES.

**返回：**无。

# 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.

参数

描述

单位

Optional. A valid RotationUnits type. The default is DEGREES.

**返回：**陀螺仪传感器的当前航向（以指定的单位表示）。

# 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.

参数

描述

单位

Optional. A valid RotationUnits type. The default is DEGREES.

**返回：**陀螺仪传感器以指定单位表示的当前旋转。

# 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.

参数

描述

转盘式

有效的 TurnType。

**返回：**无。

# 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.

**返回：**指定单位的陀螺仪传感器的转动类型。

changed()#

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

参数

描述

打回来

当陀螺仪传感器的航向改变时调用的回调函数。

arg

**可选。**传递给回调函数的参数元组。

**返回：**事件类的一个实例。

# 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)
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