GPS传感器#

The gps class is used to control and access data from the V5 GPS (Game Positioning System™) Sensor. This sensor provides accurate position and orientation tracking for a robot on the VEX Field. It uses the GPS Field Code around the Field’s perimeter to calculate the robot’s X and Y coordinates and heading in real time.

GPS 传感器使用在“设备”窗口中配置 GPS 传感器时输入的偏移量自动计算出的参考点来返回机器人的位置。

有关 GPS 传感器的更多信息，请阅读 VEX 库中的将 GPS 传感器与 VEX V5 一起使用。

参考点作为 GPS 传感器自身的 (0, 0) 位置，GPS 方法返回的所有坐标、航向和运动都相对于此配置点。

VEX V5 GPS 传感器。

类构造函数 #

1 — Creates a gps object on the specified Smart Port using the default origin (0, 0).
gps(
  int32_t  index,
  double   heading_offset = 0,
  turnType dir = right );

2 — Creates a gps object on the specified Smart Port and defines a custom origin position.
gps(
  int32_t       index,
  double        ox,
  double        oy,
  distanceUnits units = mm,
  double        heading_offset = 0,
  turnType      dir = right );

类析构函数 #

Destroys the gps object and releases associated resources.

~gps();

参数 #

范围	类型	描述
`index`	`int32_t`	The Smart Port that the GPS Sensor is connected to, written as `PORTx`, where `x` is the port number (for example, `PORT1`).
`ox`	`double`	原点的X坐标。
`oy`	`double`	原点的Y坐标。
`units`	`distanceUnits`	The unit of measurement used for `ox` and `oy`: `mm` (default) — millimeters `distanceUnits::in` / `inches` — inches `distanceUnits::cm` — centimeters
`heading_offset`	`double`	GPS传感器的旋转偏移量（以度为单位），范围从0.00到359.99。默认值为0。
`dir`	`turnType`	The direction that will return positive heading values: `right` (default) `left`

示例 #

// Create the gps instance
gps GPS1 = gps(
    PORT1,      // Smart Port 1
    180);       // heading_offset

// Create the gps instance
gps GPS1 = gps(
    PORT1,   // Smart Port 1
    50.00,   // ox
    100.00,  // oy
    mm,      // units
    180 );   // heading_offset

成员功能 #

The gps class includes the following member functions:

calibrate — Calibrates the GPS Sensor.
setOrigin — Sets the origin position for the GPS coordinate system.
setLocation — Sets the current location and heading of the GPS Sensor.
xPosition — Returns the current X position.
yPosition — Returns the current Y position.
heading — Returns the current heading.
acceleration — Returns linear acceleration along the specified axis.
gyroRate — Returns the angular velocity for the specified axis.
orientation — Returns the orientation for the specified axis.
quality — Returns the current GPS signal quality.
changed — Registers a callback function that runs when GPS data changes.

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

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

// Create the gps instance in Smart Port 1
gps GPS1 = gps(PORT1);

类方法 #

calibrate #

校准 GPS 传感器。这将把 GPS 配置的航向（根据其角度偏移）设置为传动系统的当前航向。

在校准过程中，GPS传感器必须保持静止。

Available Functions

void calibrate();

Parameters

此函数不接受任何参数。

Return Values

此函数不返回值。

Examples

// Turn to face the lower Field wall using data from the GPS Sensor.
GPS1.calibrate();
Drivetrain.turnToHeading(180, degrees)

setOrigin #

设置GPS坐标系的原点。

Available Functions

1 — 将原点设置为指定的 X 和 Y 位置。
void setOrigin( 
  double        x, 
  double        y, 
  distanceUnits units = mm );

2 — 将原点设置为传感器的当前位置。
void setOrigin();

Parameters

范围	类型	描述
`x`	`double`	新原点位置的 X 坐标。
`y`	`double`	新原点位置的Y坐标。
`units`	`distanceUnits`	The unit of measurement used for `x` and `y`: `mm` (default) — millimeters `distanceUnits::cm` — centimeters `distanceUnits::in` — inches

范围

类型

描述

x

double

新原点位置的 X 坐标。

y

double

新原点位置的Y坐标。

units

distanceUnits

The unit of measurement used for x and y:

mm (default) — millimeters
distanceUnits::cm — centimeters
distanceUnits::in — inches

Return Values

此函数不返回值。

Notes

Changing the origin affects values returned by xPosition and yPosition.

setLocation #

设置当前 GPS 位置和航向。

Available Functions

1 — 使用指定的距离和旋转单位设置当前位置。

void setLocation(
  double        x,
  double        y,
  distanceUnits units = mm,
  double        angle = 0,
  rotationUnits units_r = degrees );

2 — 使用毫米和度设置当前位置。
void setLocation( double x, double y, double angle );

Parameters

范围	类型	描述
`x`	`double`	当前位置的X坐标。
`y`	`double`	当前位置的Y坐标。
`units`	`distanceUnits`	The unit of measurement used for `x` and `y`: `mm` (default) — millimeters `distanceUnits::in` / `inches` — inches `distanceUnits::cm` — centimeters
`angle`	`double`	当前位置的航向值。
`units_r`	`rotationUnits`	The unit of measurement used for `angle`: `deg` (default) — degrees `rev` — revolutions

Return Values

此函数不返回值。

Notes

Calling this function updates the internal position and heading values reported by xPosition, yPosition, and heading.

xPosition #

返回 GPS 传感器的当前 X 坐标。

Available Functions

double xPosition( distanceUnits units = distanceUnits::mm );

Parameters

范围	类型	描述
`units`	`distanceUnits`	The unit of measurement for the returned X position: `mm` (default) — millimeters `distanceUnits::cm` — centimeters `distanceUnits::in` — inches

范围

类型

描述

units

distanceUnits

The unit of measurement for the returned X position:

mm (default) — millimeters
distanceUnits::cm — centimeters
distanceUnits::in — inches

Return Values

Returns a double representing the x positional offset from the origin in the specified units.

Notes

X 坐标是相对于当前原点测量的。
The origin may be changed using setOrigin.

Examples

// Drive slowly towards the center of the Field
Drivetrain.setDriveVelocity(20.0, percent);
Drivetrain.drive(forward);
// Stop driving when the GPS returns an x position
// near the center of the Field
waitUntil((GPS1.xPosition(mm) < 0.0));
Drivetrain.stop();

yPosition #

返回 GPS 传感器的当前 Y 坐标。

Available Functions

double yPosition( distanceUnits units = distanceUnits::mm );

Parameters

范围	类型	描述
`units`	`distanceUnits`	The unit of measurement for the returned Y position: `mm` (default) — millimeters `distanceUnits::cm` — centimeters `distanceUnits::in` — inches

范围

类型

描述

units

distanceUnits

The unit of measurement for the returned Y position:

mm (default) — millimeters
distanceUnits::cm — centimeters
distanceUnits::in — inches

Return Values

Returns a double representing the Y positional offset from the origin in the specified units.

Notes

Y轴位置是相对于当前原点测量的。
The origin may be changed using setOrigin().

Examples

// Drive slowly towards the center of the Field
Drivetrain.setDriveVelocity(20.0, percent);
Drivetrain.drive(forward);
// Stop driving when the GPS reports an y position
// near the center of the Field
waitUntil((GPS1.yPosition(mm) < 0.0));
Drivetrain.stop();

heading #

返回 GPS 传感器的当前航向（偏航角）。

Available Functions

double heading( rotationUnits units = rotationUnits::deg );

Parameters

范围	类型	描述
`units`	`rotationUnits`	The unit of measurement for the returned heading value: `deg` (default) — degrees `rev` — revolutions

范围

类型

描述

units

rotationUnits

The unit of measurement for the returned heading value:

deg (default) — degrees
rev — revolutions

Return Values

Returns a double representing the current heading in the specified units.

Notes

航向值介于 0 度到 360 度之间。
The positive rotation direction is determined by the dir parameter specified during construction.

Examples

// Turn slowly to face the right wall
Drivetrain.setTurnVelocity(20.0, percent);
Drivetrain.turn(right);
// Stop turning when the GPS reports a heading 
// greater than 90 degrees
waitUntil((GPS1.heading() > 90.0));
Drivetrain.stop();

acceleration #

返回 GPS 传感器沿指定轴测量的线性加速度。

Available Functions

double acceleration( 
  axisType axis );

Parameters

范围	类型	描述
`axis`	`axisType`	The axis for which acceleration will be returned: `xaxis` `yaxis` `zaxis`

范围

类型

描述

axis

axisType

The axis for which acceleration will be returned:

xaxis
yaxis
zaxis

Return Values

Returns a double representing the acceleration along the specified axis in G (gravitational units).

Notes

加速度值以 G 为单位报告，其中 1 G 等于地球表面的重力加速度。

gyroRate #

返回 GPS 传感器沿指定轴测量的角速度。

Available Functions

double gyroRate( 
  axisType      axis, 
  velocityUnits units );

Parameters

范围	类型	描述
`axis`	`axisType`	The axis for which angular velocity will be returned: `xaxis` `yaxis` `zaxis`
`units`	`velocityUnits`	The unit of measurement for the returned angular velocity: `dps` — degrees per second `rpm` — revolutions per minute

范围

类型

描述

axis

axisType

The axis for which angular velocity will be returned:

xaxis
yaxis
zaxis

units

velocityUnits

The unit of measurement for the returned angular velocity:

dps — degrees per second
rpm — revolutions per minute

Return Values

Returns a double representing the angular velocity along the specified axis in the selected units.

orientation #

返回 GPS 传感器在指定轴上的方向角。

Available Functions

double orientation( 
  orientationType axis, 
  rotationUnits   units );

Parameters

范围	类型	描述
`axis`	`orientationType`	The orientation axis to retrieve: `roll` `pitch` `yaw`
`units`	`rotationUnits`	The unit of measurement for the returned orientation value: `deg` — degrees `rev` — revolutions

范围

类型

描述

axis

orientationType

The orientation axis to retrieve:

roll
pitch
yaw

units

rotationUnits

The unit of measurement for the returned orientation value:

deg — degrees
rev — revolutions

Return Values

Returns a double representing the orientation of the specified axis in the selected units.

quality #

返回感知到的GPS信号质量。

Available Functions

int32_t quality();

Parameters

此函数不接受任何参数。

Return Values

Returns an int32_t representing the GPS signal quality as a percentage:

可能的值	描述
`100`	GPS传感器报告的所有位置和航向数据均有效。
`~90`	位置数据不再直接从 GPS 字段代码计算，而是通过其他方式估算。
`0 – 80`	Only heading values are valid. As time passes without sufficient scanning of the GPS Field Code, signal quality continues to decrease until `0`, at which point GPS data is effectively frozen and no longer valid.

changed #

注册一个回调函数，当 GPS 航向值发生变化时运行。

Available Functions

void changed( 
  void (* callback)(void) );

Parameters

范围	类型	描述
`callback`	`void (*)(void)`	A pointer to a function that will be called when the GPS heading value changes. The function must take no parameters and return `void`.

Return Values

此函数不返回值。