惯性#

初始化惯性类 #

使用以下构造函数创建惯性传感器：

Inertial(port)

范围	描述
`port`	可选。如果使用 EXP Brain 的内置惯性传感器，则无需智能端口。如果连接外部惯性传感器，请指定惯性传感器所连接的智能端口。

# Create a new object "brain_inertial" with the
# Inertial class.
brain_inertial = Inertial()

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

类方法 #

calibrate()#

陀螺仪或惯性传感器将根据校准期间 EXP Brain 的方向自动调整其值，以便它在所有可能的 EXP Brain 方向上保持一致。

The calibrate() method calibrates the Inertial Sensor. Calibration should be done when the Inertial Sensor is not moving. Allow at least 2 seconds for calibration to complete.

**返回：**无。

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

is_calibrating()#

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

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

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

set_heading()#

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

参数	描述
价值	要设置的航向值。
单位	Optional. A valid RotationUnits type. The default is `DEGREES`.

**返回：**无。

# Set the Inertial Sensor's heading to 180 degrees.
brain_inertial.set_heading(180)

reset_heading()#

The reset_heading() method resets the heading of the Inertial Sensor to 0.

**返回：**无。

heading()#

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

参数	描述
单位	Optional. A valid RotationUnits type. The default is `DEGREES`.

**返回：**惯性传感器的当前航向（以指定的单位表示）。

# Get the current heading for the Inertial Sensor.
value = brain_inertial.heading()

set_rotation()#

The set_rotation(value, units) method sets the rotation of the Inertial 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 Inertial Sensor's rotation to 180 degrees.
brain_inertial.set_rotation(180)

reset_rotation()#

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

**返回：**无。

rotation()#

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

参数	描述
单位	Optional. A valid RotationUnits type. The default is `DEGREES`.

**返回：**惯性传感器以指定单位表示的当前旋转。

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

orientation()#

The orientation(axis, units) method returns the orientation for one axis of the Inertial Sensor.

参数	描述
轴	有效的 AxisType。
单位	Optional. A valid RotationUnits type. The default is `DEGREES`.

**返回：**指定单位的轴方向值。

# Get the pitch value for the Inertial Sensor.
pitch = brain_inertial.orientation(OrientationType.PITCH)

gyro_rate()#

The gyro_rate(axis, units) method returns the gyro rate for one axis of the Inertial Sensor.

参数	描述
轴	有效的 AxisType。
单位	Optional. A valid VelocityUnits type. The default is `DPS`.

**返回：**以指定单位表示的轴陀螺仪速率值。

# Get the gyro rate for the Z axis of the Inertial Sensor.
zrate = brain_inertial.gyro_rate(ZAXIS)

acceleration()#

The acceleration(axis) method returns the acceleration of the Inertial Sensor.

参数	描述
轴	有效的 AxisType。

**返回：**以重力单位表示的轴加速度值。

# Get the acceleration for the Z axis of the Inertial Sensor.
zaccel = brain_inertial.acceleration(ZAXIS)

# Print the value of the current acceleration of the z-axis
# of the Inertial Sensor to the Brain's screen.
brain.screen.print(zaccel)

changed()#

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

参数	描述
打回来	当惯性传感器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 heading_changed()
def heading_changed():
    # The Brain will print that the heading changed on the
    # Brain's screen.
    brain.screen.print("heading changed ")
# Run heading_changed when the heading for this
# Inertial Sensor changes.
brain_inertial.changed(heading_changed)

collision()#

The collision(callback, arg) method registers a callback function for when the Inertial Sensor detects a collision.

参数	描述
打回来	当检测到碰撞时调用的回调函数。
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 collision_occur().
def collision_occur():
    # The Brain will print that a collision was detected by
    # the Inertial Sensor on the Brain's screen.
    brain.screen.print("collision detected ")
# Run collision_occur when the heading for this
# Inertial Sensor detects a collision.
brain_inertial.collision(collision_occur)

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.
brain_inertial.set_turn_type(LEFT)

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

惯性#

初始化惯性类 #

类方法 #

calibrate()#

is_calibrating()#

set_heading()#

reset_heading()#

heading()#

set_rotation()#

reset_rotation()#

rotation()#

orientation()#

gyro_rate()#

acceleration()#

changed()#

collision()#

set_turn_type()#

get_turn_type()#

installed()#

timestamp()#