XRPGyro

class xrp.XRPGyro

Bases: pybind11_object

Use a rate gyro to return the robots heading relative to a starting position.

This class is for the XRP onboard gyro, and will only work in simulation/XRP mode. Only one instance of a XRPGyro is supported.

Constructs an XRPGyro.

Only one instance of a XRPGyro is supported.

get_angle() → wpimath.units.radians

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

The angle is based on integration of the returned rate form the gyro. The angle is continuous, that is, it will continue from 2π->2.1π. This allows algorithms that wouldn’t want to see a discontinuity in the gyro output as it sweeps from 2π to 0 radians on the second time around.

Returns:: the current heading of the robot in radians.

get_angle_x() → wpimath.units.radians

Gets the currently reported angle around the X-axis.

Returns:: current angle around X-axis in radians

get_angle_y() → wpimath.units.radians

Gets the currently reported angle around the Y-axis.

Returns:: current angle around Y-axis in radians

get_angle_z() → wpimath.units.radians

Gets the currently reported angle around the Z-axis.

Returns:: current angle around Z-axis in radians

get_rate() → wpimath.units.radians_per_second

Return the rate of rotation of the gyro

The rate is based on the most recent reading of the gyro.

Returns:: the current rate in radians per second

get_rate_x() → wpimath.units.radians_per_second

Gets the rate of turn in radians-per-second around the X-axis.

Returns:: rate of turn in radians-per-second

get_rate_y() → wpimath.units.radians_per_second

Gets the rate of turn in radians-per-second around the Y-axis.

Returns:: rate of turn in radians-per-second

get_rate_z() → wpimath.units.radians_per_second

Gets the rate of turn in radians-per-second around the Z-axis.

Returns:: rate of turn in radians-per-second

get_rotation2d() → wpimath._wpimath.Rotation2d

Gets the angle the robot is facing.

Returns:: A wpi::math::Rotation2d with the current heading.

reset() → None: Reset the gyro angles to 0.