- class wpilib.ADXRS450_Gyro(*args, **kwargs)¶
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. Only one instance of an ADXRS %Gyro is supported.
__init__(self: wpilib._wpilib.ADXRS450_Gyro) -> None
%Gyro constructor on onboard CS0.
__init__(self: wpilib._wpilib.ADXRS450_Gyro, port: wpilib._wpilib.SPI.Port) -> None
%Gyro constructor on the specified SPI port.
port – The SPI port the gyro is attached to.
- calibrate() None ¶
Initialize the gyro.
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.
- getAngle() float ¶
Return the actual angle in degrees that the robot is currently facing.
The angle is based on integration of the returned rate from 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.
the current heading of the robot in degrees.
- getPort() int ¶
Get the SPI port number.
The SPI port number.
- getRate() float ¶
Return the rate of rotation of the gyro
The rate is based on the most recent reading of the gyro.
the current rate in degrees per second
- initSendable(builder: wpiutil._wpiutil.SendableBuilder) None ¶
- reset() None ¶
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.