Rotation Sensor

Introduction

The rotation class is used to control and access data from the V5 Rotation Sensor. The Rotation Sensor measures angular position, total rotation, and rotational velocity.

Class Constructor

rotation Rotation1 = rotation(
  int32_t index,
  bool    reverse = false );

Class Destructor

Destroys the rotation object and releases associated resources.

virtual ~rotation();

Parameters

Parameter	Type	Description
index	int32_t	The Smart Port that the Rotation Sensor is connected to, written as PORTx, where x is the port number (for example, PORT1).
reverse	bool	Determines whether the reported angle and position values are reversed: true — Reverses the direction of the reported angle and position values. false (default) — Reports angle and position values in the standard direction.

Examples

// Create a rotation instance in Port 1
rotation Rotation1 = rotation(PORT1);

Member Functions

The rotation class includes the following member functions:

• setPosition — Sets the current position of the Rotation Sensor.

• angle — Returns the detected angle of the Rotation Sensor.

• position — Returns the detected position of the Rotation Sensor.

• velocity — Returns the detected velocity of the Rotation Sensor.

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

// Create a rotation instance in Port 1
rotation Rotation1 = rotation(PORT1);

setPosition

Sets the position of the Rotation Sensor. The position returned by position is set to this value.

Available Functions

void setPosition(
    double        value, 
    rotationUnits units );

Parameters

Parameter	Type	Description
value	double	The position value to set.
units	rotationUnits	The units that represent value: deg / degrees — degrees turns / rev — revolutions

Return Values

This function does not return a value.

angle

Returns the angle measured by the Rotation Sensor.

Available Functions

double angle( rotationUnits units = degrees );

Parameters

Parameter	Type	Description
units	rotationUnits	The unit that represents the angle: deg / degrees (default) — degrees turns / rev — revolutions

Return Values

Returns a double representing the angle measured by the Rotation Sensor in degrees.

Examples

// Get the current angle of the Rotation Sensor
  double angle = Rotation1.angle(degrees);

  // Print the current angle of the Rotation Sensor to the
  // Brain's screen.
  Brain.Screen.print(angle);

position

Returns the current position of the Rotation Sensor.

Available Functions

double position( rotationUnits units );

Parameters

Parameter	Type	Description
units	rotationUnits	The units that represent the position: deg / degrees — degrees turns / rev — revolutions

Return Values

Returns a double representing the current position of the Rotation Sensor in the specified units.

velocity

Returns the velocity of the Rotation Sensor.

Available Functions

double velocity( velocityUnits units );

Parameters

Parameter	Type	Description
units	velocityUnits	The unit that represents the detected velocity: dps — degrees per second rpm — rotations per minute

Return Values

Returns a double representing the velocity of the Rotation Sensor in the specified units.