陀螺仪传感器#

介绍#

The gyro class is used with a Gyro Sensor to measure rotational movement around a single axis. It can track which direction the robot is facing and how far the robot has turned.

类构造函数#

gyro(
    int32_t index );

类析构函数#

Destroys the gyro object and releases associated resources.

virtual ~gyro();

参数#

范围

类型

描述

index

int32_t

The Smart Port that the Gyro Sensor is connected to, written as PORTx, where x is the port number (for example, PORT1).

例子#

// Create a gyro instance in Port 1
gyro Gyro1 = gyro(PORT1);

成员功能#

The gyro class includes the following member functions:

  • calibrate — Calibrates the Gyro Sensor.

  • setHeading — Sets the Gyro Sensor’s current heading to a new heading value.

  • setRotation — Sets the Gyro Sensor’s current rotation to a new rotation value.

  • heading — Returns the direction the Gyro Sensor is facing.

  • rotation — Returns how far the Gyro Sensor has turned.

  • rate — Returns how fast the Gyro Sensor is rotating.

Before calling any gyro member functions, a gyro instance must be created, as shown below:

/* This constructor is required when using VS Code.
Gyro Sensor configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create a gyro instance in Port 1
gyro Gyro1 = gyro(PORT1);

calibrate#

校准陀螺仪传感器。

Available Functions 
void calibrate();
Parameters

此函数不接受任何参数。

Return Values

此函数不返回值。

Notes

  • 校准有助于陀螺仪传感器正确测量转弯角度。校准过程中请保持传感器静止。如果在校准过程中传感器移动，则航向、旋转和速率值可能无法正确测量转弯角度。

Examples 
// Calibrate the Gyro Sensor before turning.
Gyro1.calibrate();

setHeading#

将陀螺仪传感器的当前航向设置为特定值。

航向角是指陀螺仪传感器所朝向的方向，测量范围为 0 到 359.99 度。设置航向角会改变传感器的当前方向参考。

Available Functions 
void setHeading(
  double        value,
  rotationUnits units );

参数

类型

描述

value

double

新标题要使用的值。

units

rotationUnits

The unit that represents the heading:

  • degrees
  • turns
Return Values

此函数不返回值。

setRotation#

将陀螺仪传感器的当前旋转角度设置为特定值。

旋转角度是指陀螺仪传感器转动的幅度。与航向不同，旋转角度可以超过 359.99 度，也可以低于 0 度。

Available Functions 
void setRotation(
  double        value,
  rotationUnits units );
Parameters

参数

类型

描述

value

double

要用于新旋转值的值。

units

rotationUnits

The unit that represents the rotation value:

  • degrees
  • turns
Return Values

此函数不返回值。

heading#

返回陀螺仪传感器的当前航向。

航向角是指陀螺仪传感器所朝向的方向，测量范围为 0 到 359.99 度。如果传感器旋转超过 359.99 度，航向角将回落至 0 度。

Available Functions 
double heading(
  rotationUnits units = degrees );
Parameters

范围

类型

描述

units

rotationUnits

The unit that represents the heading:

  • degrees (default)
  • turns
Return Values

Returns a double representing the current heading of the Gyro Sensor in the specified units, defaulting to degrees.

Examples 
// Get the current heading for the Gyro.
double value = Gyro1.heading();
Brain.Screen.print(value);

rotation#

返回陀螺仪传感器的当前旋转角度。

旋转角度是指陀螺仪传感器转动的程度。与航向不同，旋转角度可以超过 359.99 度，也可以低于 0 度。例如，向右旋转两圈，旋转角度为 720 度。从 0 度向左旋转一圈，旋转角度为 -360 度。

Available Functions 
double rotation(
  rotationUnits units = degrees );
Parameters

范围

类型

描述

units

rotationUnits

The unit that represents the rotation value:

  • degrees (default)
  • turns
Return Values

Returns a double representing the current rotation value of the Gyro Sensor in the specified units, defaulting to degrees.

Examples 
// Get the current rotation for the Gyro.
double value = Gyro1.rotation();
Brain.Screen.print(value);

rate#

返回陀螺仪传感器的旋转速率。

转速是指陀螺仪传感器旋转的速度。该值可以是正数也可以是负数，具体取决于传感器的旋转方向。

Available Functions 
double rate(
  rateUnits units = rateUnits::dps );
Parameters

| Parameter | Type | Description | | :—————-: | :————————————– | | units | rateUnits | The unit that represents the rate:

  • rateUnits::dps (default) — degrees per second
  • rateUnits::rpm — rotations per minute
|

Return Values

Returns a double representing the current rate of change of the Gyro Sensor in the specified units, defaulting to rateUnits::dps.

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