Package edu.wpi.first.wpilibj.interfaces

Interface Gyro

All Superinterfaces:
AutoCloseable
All Known Implementing Classes:
ADXRS450_Gyro, AnalogGyro
public interface Gyro
extends AutoCloseable
Interface for yaw rate gyros.

  • Method Summary

    Modifier and Type Method Description
    void calibrate()
    Calibrate the gyro.
    double getAngle()
    Return the heading of the robot in degrees.
    double getRate()
    Return the rate of rotation of the gyro.
    default Rotation2d getRotation2d()
    Return the heading of the robot as a Rotation2d.
    void reset()
    Reset the gyro.

    Methods inherited from interface java.lang.AutoCloseable

    close

  • Method Details

    • calibrate

      void calibrate()
      Calibrate the gyro. It's important to make sure that the robot is not moving while the calibration is in progress, this is typically done when the robot is first turned on while it's sitting at rest before the match starts.

    • reset

      void reset()
      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.

    • getAngle

      double getAngle()
      Return the heading of the robot in degrees.

      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.

      The angle is expected to increase as the gyro turns clockwise when looked at from the top. It needs to follow the NED axis convention.

      This heading is based on integration of the returned rate from the gyro.

      Returns:
      the current heading of the robot in degrees.

    • getRate

      double getRate()
      Return the rate of rotation of the gyro.

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

      The rate is expected to be positive as the gyro turns clockwise when looked at from the top. It needs to follow the NED axis convention.

      Returns:
      the current rate in degrees per second

    • getRotation2d

      default Rotation2d getRotation2d()
      Return the heading of the robot as a Rotation2d.

      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.

      The angle is expected to increase as the gyro turns counterclockwise when looked at from the top. It needs to follow the NWU axis convention.

      This heading is based on integration of the returned rate from the gyro.

      Returns:
      the current heading of the robot as a Rotation2d.