Gyro

Introduction

The Gyro Sensor measures the heading and the rotation of the robot.

The Gyro Sensor category will only appear when the sensor is configured independently, not as part of a drivetrain configuration, in the Devices window.

This page uses gyro_sensor as the example Gyro Sensor name. Replace it with your own configured name as needed.

Below is a list of available methods:

• calibrate – Calibrates the configured Gyro Sensor.

• set_heading – Sets the Gyro Sensor’s current heading to a specified value.

• set_rotation – Sets the Gyro Sensor’s current cumulative rotation value.

• heading – Returns the Gyro Sensor’s heading angle as a float.

• rotation – Returns how much the Gyro Sensor has rotated since the project started as a float.

Constructor – Manually initialize a Gyro Sensor.

• Gyro – Create a Gyro Sensor.

calibrate

calibrate calibrates the Gyro Sensor. All subsequent methods will wait for the calibration to complete before executing. Calibration is an internal procedure that measures and compensates for sensor noise and drift over a specified period. During this time, the sensor must remain completely still (i.e., on a stable surface without any external movement). Movement during calibration will produce inaccurate results.

Usage:
gyro_sensor.calibrate()

Parameters	Description
	This method has no parameters.

set_heading

set_heading sets the Gyro Sensor’s current heading to a specified value.

Usage:
gyro_sensor.set_heading(value, units)

Parameters	Description
value	The heading value to assign.
units	Optional. The units to represent the heading: DEGREES

set_rotation

set_rotation sets the Gyro Sensor’s current cumulative rotation value.

Usage:
gyro_sensor.set_rotation(value, units)

Parameters	Description
value	The cumulative rotation value to assign.
units	Optional. The units to represent the rotation: DEGREES

heading

heading returns the Gyro Sensor heading angle as a float from 0 to 359.99 degrees.

Usage:
gyro_sensor.heading(units)

Parameters	Description
units	Optional. The units to represent the heading: DEGREES

rotation

rotation returns how much the Gyro Sensor has rotated since the project started as a float in degrees: positive for clockwise, negative for counterclockwise.

Usage:
gyro_sensor.rotation(units)

Parameters	Description
units	Optional. The units to represent the rotation: DEGREES

Constructor

Constructors are used to manually create Gyro objects, which are necessary for configuring a Gyro Sensor outside of VEXcode.

Gyro

Gyro creates a Gyro Sensor.

Usage:
Gyro(port)

Parameter	Description
port	The 3-Wire Port that the Gyro Sensor is connected to: On the V5 Brain – brain.three_wire_port.x where x is the number of the port. On a 3-Wire Expander – expander.a where expander is the name of the expander instance.

# Create a Gyro Sensor in Port A
gyro_sensor = Gyro(brain.three_wire_port.a)