旋转传感器

介绍

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.

类构造函数

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

类析构函数

Destroys the rotation object and releases associated resources.

virtual ~rotation();

参数

范围	类型	描述
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.

示例

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

成员功能

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

范围	类型	描述
value	double	要设置的位置值。
units	rotationUnits	The units that represent value: deg / degrees — degrees turns / rev — revolutions

Return Values

此函数不返回值。

angle

返回旋转传感器测量的角度。

Available Functions

double angle( rotationUnits units = degrees );

Parameters

范围	类型	描述
units	rotationUnits	The unit that represents the angle: deg / degrees (default) — degrees turns / rev — revolutions

Return Values

返回一个双精度浮点数，表示旋转传感器以指定单位测量的角度。

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

返回旋转传感器的当前位置。

Available Functions

double position( rotationUnits units );

Parameters

范围	类型	描述
units	rotationUnits	The units that represent the position: deg / degrees — degrees turns / rev — revolutions

Return Values

返回一个双精度浮点数，表示旋转传感器的当前位置，单位为指定单位。

velocity

返回旋转传感器的速度。

Available Functions

double velocity( velocityUnits units );

Parameters

范围	类型	描述
units	velocityUnits	The unit that represents the detected velocity: dps — degrees per second rpm — rotations per minute

Return Values

返回一个双精度浮点数，表示旋转传感器的速度，单位为指定单位。