惯性传感器#

介绍 #

The inertial class is used to control and access data from the V5 Inertial Sensor. This sensor provides heading, rotation, and acceleration information to help your robot track orientation and movement.

类构造函数 #

inertial(
  int32_t  index,
  turnType dir = turnType::right );

类析构函数 #

Destroys the inertial object and releases associated resources.

~inertial();

参数 #

范围	类型	描述
`index`	`int32_t`	The Smart Port that the Inertial Sensor is connected to, written as `PORTx`, where `x` is the port number (for example, `PORT1`).
`dir`	`turnType`	The direction that will return a positive value when turning: `right` (default) — clockwise `left`

范围

类型

描述

index

int32_t

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

dir

turnType

The direction that will return a positive value when turning:

right (default) — clockwise
left

示例 #

// Create the inertial instance
inertial myInertial = inertial(
    PORT1,      // Smart Port 1
    right);     // dir

成员功能 #

The inertial class includes the following member functions:

heading — Returns the current heading value.
rotation — Returns the current rotation value.
setHeading — Sets the sensor’s heading to a specified value.
setRotation — Sets the sensor’s rotation to a specified value.
calibrate — Calibrates the sensor for accurate heading tracking.
resetHeading — Resets the heading to 0.
resetRotation — Resets the rotation to 0.
isCalibrating — Returns whether the sensor is currently calibrating.
changed — Registers a callback function that runs when the heading changes.
installed — Returns whether the sensor is installed.
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.
collision — Registers a callback function that runs when a collision is detected.
setTurnType — Sets which turn direction returns positive heading values.
getTurnType — Returns which turn direction produces positive heading values.

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

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

// Create the inertial instance
inertial myInertial = inertial(
    PORT1);      // Smart Port 1

heading #

返回惯性传感器的当前航向（偏航角）。

Available Functions

double heading( rotationUnits units = degrees );

Parameters

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

范围

类型

描述

units

rotationUnits

The unit of measurement for the returned heading value:

deg / degrees (default) — degrees
turns / rev — revolutions

Return Values

返回一个双精度浮点数，表示传感器的当前航向，单位为指定单位。

Notes

The heading value is wrapped between 0 and 360 degrees. Use rotation to access the continuous (unbounded) rotation value.

Examples

// Turn, then show the current heading
Drivetrain.turnFor(right, 450, degrees);
Brain.Screen.print("%f", myInertial.heading(degrees));

rotation #

返回惯性传感器的绝对旋转角度（无限制的偏航角）。

Available Functions

double rotation( rotationUnits units = degrees );

Parameters

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

范围

类型

描述

units

rotationUnits

The unit of measurement for the returned rotation value:

deg / degrees (default) — degrees
turns / rev — revolutions

Return Values

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

Notes

The rotation value is continuous and does not wrap between 0 and 360 degrees. Use heading to access the wrapped heading value.

Examples

// Turn, then show the current rotation
Drivetrain.turnFor(right, 450, degrees);
Brain.Screen.print("%f", myInertial.rotation(degrees));

setHeading #

将惯性传感器的航向设置为指定值。

Available Functions

void setHeading( double value, rotationUnits units );

Parameters

范围	类型	描述
`value`	`double`	要分配给传感器的新航向值。
`units`	`rotationUnits`	The unit of measurement for the heading value: `deg` / `degrees` — degrees `turns` / `rev` — revolutions

范围

类型

描述

value

double

要分配给传感器的新航向值。

units

rotationUnits

The unit of measurement for the heading value:

deg / degrees — degrees
turns / rev — revolutions

Return Values

此函数不返回值。

Examples

// Turn the robot around
myInertial.setHeading(180, degrees);
Drivetrain.turnToHeading(0, degrees);

setRotation #

将惯性传感器的绝对旋转角度设置为指定值。

Available Functions

void setRotation( double value, rotationUnits units );

Parameters

范围	类型	描述
`value`	`double`	要分配给传感器的新绝对旋转值。
`units`	`rotationUnits`	The unit of measurement for the rotation value: `deg` / `degrees` — degrees `turns` / `rev` — revolutions

范围

类型

描述

value

double

要分配给传感器的新绝对旋转值。

units

rotationUnits

The unit of measurement for the rotation value:

deg / degrees — degrees
turns / rev — revolutions

Return Values

此函数不返回值。

Examples

// Turn the robot around
myInertial.setRotation(-180, degrees);
Drivetrain.turnToRotation(0, degrees);

calibrate #

开始对惯性传感器进行校准。

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

校准过程中，传感器应保持静止。
Use isCalibrating to determine when calibration has completed.

resetHeading #

将惯性传感器的航向设置为 0。

Available Functions

void resetHeading();

Parameters

此函数不接受任何参数。

Return Values

此函数不返回值。

resetRotation #

将惯性传感器的旋转角度设置为 0。

Available Functions

void resetRotation();

Parameters

此函数不接受任何参数。

Return Values

此函数不返回值。

isCalibrating #

返回惯性传感器当前是否正在校准。

Available Functions

bool isCalibrating();

Parameters

此函数不接受任何参数。

Return Values

返回一个布尔值，指示惯性传感器是否正在校准：

true — The sensor is currently calibrating.
false — The sensor is not currently calibrating.

changed #

注册一个回调函数，当惯性传感器的航向值发生变化时，该函数将运行。

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 heading value changes. The function must take no parameters and return `void`.

Return Values

此函数不返回值。

Examples

// Called when the inertial sensor's heading value changes
void onHeadingChanged() {
  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);
  Brain.Screen.print("Heading: %.2f", myInertial.heading());
}

myInertial.changed(onHeadingChanged);

installed #

返回惯性传感器是否已连接。

Available Functions

bool installed();

Parameters

此函数不接受任何参数。

Return Values

返回一个布尔值，指示惯性传感器是否已连接：

true — The sensor is connected and responding.
false — The sensor is not connected or not detected.

acceleration #

返回惯性传感器沿指定轴测得的线性加速度。

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 #

返回惯性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.

Examples

// Display the rate of change of rotation while turning in dps
Drivetrain.turn(right);
wait(1, seconds);

Brain.Screen.print(myInertial.gyroRate(zaxis, dps));

Drivetrain.stop();

orientation #

返回指定轴上惯性传感器的当前方向。

Available Functions

double orientation( 
  axisType      axis, 
  rotationUnits units );

Parameters

范围	类型	描述
`axis`	`axisType`	The axis for which orientation will be returned: `xaxis` `yaxis` `zaxis`
`units`	`rotationUnits`	The unit of measurement for the returned orientation value: `deg` / `degrees` — degrees `turns` / `rev` — revolutions

范围

类型

描述

axis

axisType

The axis for which orientation will be returned:

xaxis
yaxis
zaxis

units

rotationUnits

The unit of measurement for the returned orientation value:

deg / degrees — degrees
turns / rev — revolutions

Return Values

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

Examples

while (true) {
  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1,1);
  // Show the Inertial Sensor's orientation value
  // for roll in degrees
  double orient = myInertial.orientation(xaxis, deg);
  Brain.Screen.print("%f", orient);
  wait(0.1, seconds);
}

collision #

注册一个回调函数，当惯性传感器检测到碰撞时，该函数将运行。

Available Functions

void collision( void (* callback)(axisType, double, double, double) );

Parameters

范围	类型	描述
`callback`	`void (*)(axisType, double, double, double)`	A pointer to a function that will be called when a collision is detected. The callback function must accept the following parameters: `axisType` — The axis on which the collision was detected. Acceleration values at the time of impact, in order: `double` — Acceleration along the x-axis (in G). `double` — Acceleration along the y-axis (in G). `double` — Acceleration along the z-axis (in G). The function must return `void`.

范围

类型

描述

callback

void (*)(axisType, double, double, double)

A pointer to a function that will be called when a collision is detected. The callback function must accept the following parameters:

axisType — The axis on which the collision was detected.
Acceleration values at the time of impact, in order:
- double — Acceleration along the x-axis (in G).
- double — Acceleration along the y-axis (in G).
- double — Acceleration along the z-axis (in G).

The function must return void.

Return Values

此函数不返回值。

Examples

// Called when the inertial sensor's detects a collision
void onCollision(axisType axis, double x, double y, double z) {
  Brain.Screen.print("Collision detected!");
}

// Firmly move the robot by hand briefly to simulate
// a collision and call the onCollision function
myInertial.collision(onCollision);

setTurnType #

设置转向方向，返回正航向值。

Available Functions

void setTurnType( turnType dir );

Parameters

范围	类型	描述
`dir`	`turnType`	The direction that will return positive heading values: `right` `left`

范围

类型

描述

dir

turnType

The direction that will return positive heading values:

right
left

Return Values

此函数不返回值。

Notes

This setting affects how heading and rotation report positive and negative values.
Calling this function overrides the dir value specified when constructing the inertial object.

getTurnType #

返回转向方向，从而产生正航向值。

Available Functions

turnType getTurnType();

Parameters

此函数不接受任何参数。

Return Values

Returns a turnType indicating which direction produces positive values:

right — Clockwise rotation returns positive values.
left — Counterclockwise rotation returns positive values.

Notes

This value is set during construction of the inertial object or by calling setTurnType.