Gyro Sensor

Introduction

The gyro class is used to measure the robot’s heading and rotational movement, allowing tracking of orientation over time.

Class Constructor

gyro(
    triport::port &port);

Class Destructor

Destroys the gyro object and releases associated resources.

virtual ~gyro();

Parameters

Parameter	Type	Description
port	triport::port &	The 3-Wire Port that the Gyro Sensor is connected to, written as Brain.ThreeWirePort.X or ExpanderName.X, where X is the port letter (for example, Brain.ThreeWirePort.A or Expander1.A).

Example

// Create a gyro instance in Port A
gyro GyroA = gyro(Brain.ThreeWirePort.A);

Member Functions

The gyro class includes the following member functions:

• calibrate — Calibrates the gyro for stable heading tracking.

• setHeading — Sets the heading of the gyro.

• setRotation — Sets the current rotation value of the gyro.

• heading — Returns the heading of the gyro.

• rotation — Returns the rotation of the gyro.

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 A
gyro GyroA = gyro(Brain.ThreeWirePort.A);

calibrate

Calibrates the Gyro Sensor.

Available Functions

void calibrate();

Parameters

This function does not accept any parameters.

Return Values

This function does not return a value.

Notes

• calibrate should only be called when the sensor is not moving.

Examples

// Start calibration with the calibration time set to 3 seconds.
GyroA.calibrate(3);

setHeading

Sets the heading of the Gyro Sensor to a specific value.

Available Functions

void setHeading( 
  double        value,
  rotationUnits units );

Parameters	Type	Description
value	double	The value to use for the new heading.
units	rotationUnits	The unit that represents the heading: degrees turns

Return Values

This function does not return a value.

setRotation

Sets the rotation of the Gyro Sensor to a specific value.

Available Functions

void setRotation( 
  double        value,
  rotationUnits units );

Parameters

Parameters	Type	Description
value	double	The value to use for the new rotation value.
units	rotationUnits	The unit that represents the rotation value: degrees turns

Return Values

This function does not return a value.

heading

Returns the current heading of the Gyro Sensor.

Available Functions

double heading( 
  rotationUnits units = degrees );

Parameters

| Parameter | Type | Description | | :—————-: | :————————————– | | 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 = GyroA.heading();
Brain.Screen.print(value);

rotation

Returns the current rotation of the Gyro Sensor.

Available Functions

double rotation( 
  rotationUnits units = degrees );

Parameters

| Parameter | Type | Description | | :—————-: | :————————————– | | 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 = GyroA.rotation();
Brain.Screen.print(value);