RomiGyro
- class romi.RomiGyro
Bases:
pybind11_object
Use a rate gyro to return the robots heading relative to a starting position.
This class is for the Romi onboard gyro, and will only work in simulation/Romi mode. Only one instance of a RomiGyro is supported.
- getAngle() float
Return the actual angle in degrees 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 360->361 degrees. This allows algorithms that wouldn’t want to see a discontinuity in the gyro output as it sweeps from 360 to 0 on the second time around.
- Returns:
the current heading of the robot in degrees.
- getAngleX() float
Gets the currently reported angle around the X-axis
- getAngleY() float
Gets the currently reported angle around the X-axis
- getAngleZ() float
Gets the currently reported angle around the X-axis
- getRate() float
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 degrees per second
- getRateX() float
Gets the rate of turn in degrees-per-second around the X-axis
- getRateY() float
Gets the rate of turn in degrees-per-second around the Y-axis
- getRateZ() float
Gets the rate of turn in degrees-per-second around the Z-axis
- reset() None
Resets the gyro