ADXRS450_Gyro¶

class wpilib.ADXRS450_Gyro(port=None)[source]¶

Bases: wpilib.GyroBase

Use a rate gyro to return the robots heading relative to a starting position. The Gyro class tracks the robots heading based on the starting position. As the robot rotates the new heading is computed by integrating the rate of rotation returned by the sensor. When the class is instantiated, it does a short calibration routine where it samples the gyro while at rest to determine the default offset. This is subtracted from each sample to determine the heading.

This class is for the digital ADXRS450 gyro sensor that connects via SPI.

Constructor.

Parameters:	port (`SPI.Port`) – The SPI port that the gyro is connected to

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.

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.

Note

Usually you don’t need to call this, as it’s called when the object is first created. If you do, it will freeze your robot for 5 seconds

free()[source]¶: Delete (free) the spi port used for the gyro and stop accumulating.

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.

getRate()[source]¶

Return the rate of rotation of the gyro

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

Returns:	the current rate in degrees per second

kCalibrationSampleTime = 5.0¶

kDegreePerSecondPerLSB = 0.0125¶

kFaultRegister = 10¶

kHiCSTRegister = 6¶

kLoCSTRegister = 4¶

kPIDRegister = 12¶

kQuadRegister = 8¶

kRateRegister = 0¶

kSNHighRegister = 14¶

kSNLowRegister = 16¶

kSamplePeriod = 0.001¶

kTemRegister = 2¶

reset()[source]¶: 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.