AnalogGyro

class wpilib.AnalogGyro(*args, **kwargs)

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 gyro class must be used with a channel that is assigned one of the Analog accumulators from the FPGA. See AnalogInput for the current accumulator assignments.

This class is for gyro sensors that connect to an analog input.

Overloaded function.

  1. __init__(self: wpilib._wpilib.AnalogGyro, channel: int) -> None

Gyro constructor using the Analog Input channel number.

Parameters

channel – The analog channel the gyro is connected to. Gyros can only be used on on-board Analog Inputs 0-1.

  1. __init__(self: wpilib._wpilib.AnalogGyro, channel: wpilib._wpilib.AnalogInput) -> None

Gyro constructor with a precreated AnalogInput object.

Use this constructor when the analog channel needs to be shared. This object will not clean up the AnalogInput object when using this constructor.

Parameters

channel – A pointer to the AnalogInput object that the gyro is connected to.

  1. __init__(self: wpilib._wpilib.AnalogGyro, channel: int, center: int, offset: float) -> None

Gyro constructor using the Analog Input channel number with parameters for presetting the center and offset values. Bypasses calibration.

Parameters
  • channel – The analog channel the gyro is connected to. Gyros can only be used on on-board Analog Inputs 0-1.

  • center – Preset uncalibrated value to use as the accumulator center value.

  • offset – Preset uncalibrated value to use as the gyro offset.

  1. __init__(self: wpilib._wpilib.AnalogGyro, channel: wpilib._wpilib.AnalogInput, center: int, offset: float) -> None

Gyro constructor with a precreated AnalogInput object and calibrated parameters.

Use this constructor when the analog channel needs to be shared. This object will not clean up the AnalogInput object when using this constructor.

Parameters
  • channel – A pointer to the AnalogInput object that the gyro is connected to.

  • center – Preset uncalibrated value to use as the accumulator center value.

  • offset – Preset uncalibrated value to use as the gyro offset.

calibrate(self: wpilib.AnalogGyro) → None
getAnalogInput(self: wpilib.AnalogGyro)wpilib.AnalogInput

Gets the analog input for the gyro.

Returns

AnalogInput

getAngle(self: wpilib.AnalogGyro) → float

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->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. This heading is based on integration of the returned rate from the gyro.

getCenter(self: wpilib.AnalogGyro) → int

Return the gyro center value. If run after calibration, the center value can be used as a preset later.

Returns

the current center value

getOffset(self: wpilib.AnalogGyro) → float

Return the gyro offset value. If run after calibration, the offset value can be used as a preset later.

Returns

the current offset value

getRate(self: wpilib.AnalogGyro) → float

Return the rate of rotation of the gyro

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

Returns

the current rate in degrees per second

initGyro(self: wpilib.AnalogGyro) → None

Initialize the gyro.

Calibration is handled by Calibrate().

kAverageBits = 0
kCalibrationSampleTime = 5.0
kDefaultVoltsPerDegreePerSecond = 0.007
kOversampleBits = 10
kSamplesPerSecond = 50.0
reset(self: wpilib.AnalogGyro) → 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.

setDeadband(self: wpilib.AnalogGyro, volts: float) → None

Set the size of the neutral zone.

Any voltage from the gyro less than this amount from the center is considered stationary. Setting a deadband will decrease the amount of drift when the gyro isn’t rotating, but will make it less accurate.

Parameters

volts – The size of the deadband in volts

setSensitivity(self: wpilib.AnalogGyro, voltsPerDegreePerSecond: float) → None

Set the gyro sensitivity.

This takes the number of volts/degree/second sensitivity of the gyro and uses it in subsequent calculations to allow the code to work with multiple gyros. This value is typically found in the gyro datasheet.

Parameters

voltsPerDegreePerSecond – The sensitivity in Volts/degree/second