Gyro¶
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class
wpilib.interfaces.
Gyro
[source]¶ Bases:
object
Interface for yaw rate gyros
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calibrate
()[source]¶ 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.
Note
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.
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getAngle
()[source]¶ 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.
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