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Gyro Class Referenceabstract

Interface for yaw rate gyros. More...

#include <Gyro.h>

Inheritance diagram for Gyro:
GyroBase ADXRS450_Gyro AnalogGyro

Public Member Functions

virtual void Calibrate ()=0
 Calibrate the gyro by running for a number of samples and computing the center value. More...
 
virtual void Reset ()=0
 Reset the gyro. More...
 
virtual float GetAngle () const =0
 Return the actual angle in degrees that the robot is currently facing. More...
 
virtual double GetRate () const =0
 Return the rate of rotation of the gyro. More...
 

Detailed Description

Interface for yaw rate gyros.

Member Function Documentation

virtual void Gyro::Calibrate ( )
pure virtual

Calibrate the gyro by running for a number of samples and computing the center value.

Then use the center value as the Accumulator center value for subsequent measurements. It's important to make sure that the robot is not moving while the centering calculations are in progress, this is typically done when the robot is first turned on while it's sitting at rest before the competition starts.

Implemented in AnalogGyro, and ADXRS450_Gyro.

virtual float Gyro::GetAngle ( ) const
pure virtual

Return the actual angle in degrees that the robot is currently facing.

The angle is based on the current accumulator value corrected by the oversampling rate, the gyro type and the A/D calibration values. The angle is continuous, that is it will continue from 360 to 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

Returns
the current heading of the robot in degrees. This heading is based on integration of the returned rate from the gyro.

Implemented in AnalogGyro, and ADXRS450_Gyro.

virtual double Gyro::GetRate ( ) const
pure virtual

Return the rate of rotation of the gyro.

The rate is based on the most recent reading of the gyro analog value

Returns
the current rate in degrees per second

Implemented in AnalogGyro, and ADXRS450_Gyro.

virtual void Gyro::Reset ( )
pure virtual

Reset the gyro.

Resets the gyro to a heading of zero. This can be used if there is significant drift in the gyro and it needs to be recalibrated after it has been running.

Implemented in AnalogGyro, and ADXRS450_Gyro.


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