旋转#

初始化旋转类 #

使用以下构造函数创建旋转传感器：

Rotation(port, reverse)

此构造函数使用一个参数：

范围	描述
`port`	旋转传感器连接到的有效智能端口。
`reverse`	Optional. Set to `True` to reverse the angle and position returned by the Rotation Sensor. The default is `False`.

# Construct a Rotation Sensor "rotation" with the
# Rotation class.
rotation = Rotation(Ports.PORT1)

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

类方法 #

set_reversed()#

The set_reversed(value) method sets the rotation direction to be reversed.

这是一种非等待方法，允许下一个方法无延迟运行。

参数	描述
价值	`True` to reverse the motor direction. `False` to maintain the normal direction.

**返回：**无。

# Set the direction to be reversed.
rotation.set_reversed(True)

angle()#

The angle(units) method returns the angle measured by the Rotation Sensor.

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

**返回：**旋转传感器以指定单位测量的角度。

# Print the current angle of the Rotation Sensor to the
# Brain's screen.
brain.screen.print(rotation.angle())

重置位置（）#

The reset_position() method resets the position of the Rotation Sensor to 0.

**返回：**无。

set_position()#

The set_position(value, units) method sets the position of the Rotation Sensor. The position returned by the position() method is set to this value.

参数	描述
价值	要设置的位置值。
单位	Optional. A valid RotationUnits type. The default is `DEGREES`.

**返回：**无。

position()#

The position(units) method returns the current position of the Rotation Sensor.

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

**返回：**旋转传感器的当前位置（以指定的单位表示）。

velocity()#

The velocity(units) method returns the velocity of the Rotation Sensor.

参数	描述
单位	Optional. A valid VelocityUnits type. The default is `RPM`.

**返回：**以指定单位表示的旋转传感器的速度。

changed()#

The changed(callback, arg) method registers a callback function for when the value measured by the Rotation Sensor changes.

参数	描述
打回来	当旋转传感器测量的值发生变化时调用的回调函数。
arg	可选。传递给回调函数的参数元组。

**返回：**无

# Define a function rotation_changed().
def rotation_changed():
    # The Brain will print that the rotation value changed
    # on the Brain's screen.
    brain.screen.print("rotation value changed")

# Run rotation_changed when the value of the
# Rotation Sensor changes.
rotation.changed(rotation_changed)

installed()#

The installed() method checks if the Rotation Sensor is connected.

Returns: True if the Rotation Sensor is installed. False if it is not.

timestamp()#

The timestamp() method returns the timestamp of the last received status packet from the Rotation Sensor.

**返回：**最后接收的状态包的时间戳（以毫秒为单位）。