惯性

介绍

VEX IQ（第二代）大脑内置一个用于测量旋转运动的三轴陀螺仪和一个用于检测运动变化的三轴加速度计。这些传感器使机器人能够追踪其方向、航向和加速度。

For the examples below, the configured Inertial Sensors will be named BrainInertial, and will be used in all subsequent examples throughout this API documentation when referring to Inertial class methods.

以下是所有可用方法的列表：

方向——测量惯性传感器的旋转运动。

• heading – Returns the current heading.

• rotation – Returns the cumulative rotation.

• setHeading – Sets the Inertial Sensor’s heading to a specified value.

• setRotation – Sets the Inertial Sensor’s rotation value.

• calibrate – Calibrates the Inertial Sensor for stable heading tracking.

• isCalibrating – Returns whether or not the Inertial Sensor is calibrating.

• resetHeading – Sets the heading of the Inertial Sensor to 0.

• resetRotation – Sets the rotation of the Inertial Sensor to 0.

运动——检测运动的变化。

• acceleration – Returns the linear acceleration along the x, y, or z axis.

• gyroRate – Returns the angular velocity around the x, y, or z axis.

• orientation – Returns the roll, pitch, or yaw based on tilt and rotation.

• changed – Registers a function to call when the Inertial Sensor detects change.

构造函数——手动初始化和配置惯性传感器。

• inertial – Creates an Inertial Sensor.

方向

heading

heading returns the current heading of the Inertial Sensor.

Usage:
BrainInertial.heading(units)

参数	描述
units	Optional. The units that represent the heading: degrees (default) turns

// Example coming soon

rotation

rotation returns the current rotation of the Inertial Sensor.

Usage:
BrainInertial.rotation(units)

参数	描述
units	Optional. The units that represent the rotation: degrees (default) turns

// Example coming soon

setHeading

setHeading sets the heading of the Inertial Sensor to a specific value.

Usage:
BrainInertial.setHeading(value, units);

参数	描述
value	要设置的航向值。
units	The unit that represents the new heading: degrees turns

// Example coming soon

setRotation

setRotation sets the rotation of the Inertial Sensor to a specific value.

Usage:
BrainInertial.setRotation(value, units);

参数	描述
value	要设置的旋转值。
units	The unit that represents the new rotation: degrees turns

// Example coming soon

calibrate

calibrate calibrates the Inertial Sensor. All subsequent lines will wait for the calibration to complete before executing. Calibration is an internal procedure that measures and compensates for sensor noise and drift over a specified period. During this time, the Brain must remain completely still (i.e., on a stable surface without any external movement). Movement during calibration will produce inaccurate results.

VEX 机器人会在每次项目开始时尝试自动校准。但是，如果在项目启动期间搬运或移动机器人，传感器可能无法正确校准或产生错误的校准结果。

Usage:
BrainInertial.calibrate();

范围	描述
	该方法没有参数。

// Example coming soon

isCalibrating

isCalibrating checks if the Inertial Sensor is currently calibrating.

• 1 - The Inertial Sensor is calibrating.

• 0 - The Inertial Sensor is not calibrating.

Usage:
isCalibrating()

范围	描述
	该方法没有参数。

// Example coming soon

resetHeading

resetHeading resets the heading of the Inertial Sensor to 0.

Usage:
BrainInertial.resetHeading();

参数	描述
	该方法没有参数。

// Example coming soon

resetRotation

resetRotation resets the rotation of the Inertial Sensor to 0.

Usage:
BrainInertial.resetRotation();

参数	描述
	该方法没有参数。

// Example coming soon

运动

acceleration

acceleration returns the acceleration of the Inertial Sensor in terms of G (gravity).

Usage:
BrainInertial.acceleration(axis);

参数	描述
axis	The axis to return the acceleration from: xaxis yaxis zaxis

// Example coming soon

gyroRate

gyroRate returns the gyro rate for one axis of the Inertial Sensor.

Usage:
BrainInertial.gyroRate(axis, units);

参数	描述
axis	The axis to return the gyro rate from: xaxis yaxis zaxis
units	The unit used to represent the gyro rate: dps – degrees per second rpm – rotations per minute velocityUnits::pct – percent

// Example coming soon

orientation

orientation returns the orientation for one axis of the Inertial Sensor.

Usage:
BrainInertial.orientation(type, units);

参数	描述
type	The axis to return the orientation from: pitch roll yaw
units	The unit used to represent the orientation: degrees turns

// Example coming soon

changed

changed registers a callback function for when the Inertial Sensor’s heading changes.

Usage:
BrainInertial.changed(callback);

参数	描述
callback	当惯性传感器航向改变时调用的回调函数。

// Example coming soon

构造函数

inertial

inertial creates an Inertial Sensor.

Usage:
inertial BrainInertial = inertial();

范围	描述
	该方法没有参数。

// Example coming soon