vex::gyro Class Reference

Inheritance diagram for vex::gyro:

Public Member Functions
	gyro (int32_t index, bool calibrate=false, turnType dir=turnType::left)
	Creates a new gyro object on the port specified in the parameter.
bool	installed ()
int32_t	value ()
	Gets the angle of the gyro sensor.
double	value (rotationUnits units=rotationUnits::deg)
	Gets the angle of the gyro sensor.
bool	startCalibration (gyroCalibrationType value=gyroCalibrationType::calNormal, bool waitForCompletion=true)
	Starts recalibration of the gyro.
void	calibrate (gyroCalibrationType value=gyroCalibrationType::calNormal, bool waitForCompletion=true)
bool	isCalibrating ()
	Returns true while the gyro sensor is performing a requested recalibration, changing to false once recalibration has completed.
void	resetHeading ()
	reset the gyro sensor angle to 0
void	resetRotation ()
	reset the gyro sensor rotation to 0
void	setHeading (double value, rotationUnits units)
	set the gyro sensor angle to angle
void	setRotation (double value, rotationUnits units)
	set the gyro sensor rotation to angle
double	angle (rotationUnits units=rotationUnits::deg)
	Gets the angle of the gyro sensor.
double	heading (rotationUnits units=rotationUnits::deg)
	Gets the angle of the gyro sensor.
double	rotation (rotationUnits units=rotationUnits::deg)
	Gets the absolute angle of the gyro sensor.
double	rate (rateUnits units=rateUnits::dps)
	Gets the turn rate of the gyro sensor.
void	changed (void(*callback)(void))
	Calls a function when the gyro sensor value changes.
void	setTurnType (turnType dir)
	Set direction for positive angles.
turnType	getTurnType ()
	Get direction for positive angles.
Public Member Functions inherited from vex::device
	device (int32_t index)
IQ_DeviceType	type ()
int32_t	index ()
void	init (int32_t index)
int32_t	readDigitalPin ()
int32_t	readAnalogPin ()

Additional Inherited Members
Protected Member Functions inherited from vex::device
void	setPollInterval (int32_t value)
bool	pollValid (bool bSave)
Protected Attributes inherited from vex::device
int16_t	_index

Detailed Description

Definition at line 26 of file vex_gyro.h.

Constructor & Destructor Documentation

gyro()

vex::gyro::gyro	(	int32_t	index,
		bool	calibrate = false,
		turnType	dir = turnType::left )

Creates a new gyro object on the port specified in the parameter.

Parameters

port	index to the brain port.

Member Function Documentation

angle()

double vex::gyro::angle

(

rotationUnits

units = rotationUnits::deg

)

Gets the angle of the gyro sensor.

Returns

Returns a double that represents the unit value specified by the parameter of the gyro sensor.

Parameters

units

The measurement unit for the gyro device.

calibrate()

void vex::gyro::calibrate ( gyroCalibrationType value = gyroCalibrationType::calNormal, bool waitForCompletion = true )

inline

Definition at line 58 of file vex_gyro.h.

changed()

void vex::gyro::changed

(

void(*

callback )(void)

)

Calls a function when the gyro sensor value changes.

Parameters

callback

A reference to a function.

getTurnType()

turnType vex::gyro::getTurnType

(

)

Get direction for positive angles.

Returns

turnType::right or turnType::left

heading()

double vex::gyro::heading

(

rotationUnits

units = rotationUnits::deg

)

Gets the angle of the gyro sensor.

Returns

Returns a double that represents the unit value specified by the parameter of the gyro sensor.

Parameters

units

The measurement unit for the gyro device.

installed()

bool vex::gyro::installed ( )

virtual

Reimplemented from vex::device.

isCalibrating()

bool vex::gyro::isCalibrating

(

)

Returns true while the gyro sensor is performing a requested recalibration, changing to false once recalibration has completed.

Returns

Returns true if gyro is still calibrating.

rate()

double vex::gyro::rate

(

rateUnits

units = rateUnits::dps

)

Gets the turn rate of the gyro sensor.

Returns

Returns a double that represents the unit value specified by the parameter of the gyro sensor.

Parameters

units

The measurement unit for the gyro device.

rotation()

double vex::gyro::rotation

(

rotationUnits

units = rotationUnits::deg

)

Gets the absolute angle of the gyro sensor.

Returns

Returns a double that represents the unit value specified by the parameter of the gyro sensor.

Parameters

units

The measurement unit for the gyro device.

setHeading()

void vex::gyro::setHeading	(	double	value,
		rotationUnits	units )

set the gyro sensor angle to angle

Parameters

value	The new heading for the gyro
units	The rotation unit for the heading

setRotation()

void vex::gyro::setRotation	(	double	value,
		rotationUnits	units )

set the gyro sensor rotation to angle

Parameters

value	The new absolute angle for the gyro
units	The rotation unit for the angle

setTurnType()

void vex::gyro::setTurnType

(

turnType

dir

)

Set direction for positive angles.

Parameters

dir	turnType::right or turnType::left

startCalibration()

bool vex::gyro::startCalibration	(	gyroCalibrationType	value = gyroCalibrationType::calNormal,
		bool	waitForCompletion = true )

Starts recalibration of the gyro.

Parameters

value	(Optional) Sets the amount of calibration time. By default, this parameter is quick.
waitForCompletion	wait for calibration to complete @motes the IQ startCalibration method will block until calibration is finished.

value() [1/2]

int32_t vex::gyro::value ( )

virtual

Gets the angle of the gyro sensor.

Returns

Returns an integer that represents the angle of the gyro sensor

Reimplemented from vex::device.

value() [2/2]

double vex::gyro::value

(

rotationUnits

units = rotationUnits::deg

)

Gets the angle of the gyro sensor.

Returns

Returns a double that represents the unit value specified by the parameter of the gyro sensor.

Parameters

units

The measurement unit for the gyro device.

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The documentation for this class was generated from the following file:

• vex_gyro.h