com.qualcomm.robotcore.hardware

Interface GyroSensor

All Superinterfaces:

HardwareDevice

public interface GyroSensor
extends HardwareDevice

Gyro Sensor

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Method Summary

Modifier and Type	Method and Description
void	calibrate() Calibrate the gyro.
int	getHeading() Return the integrated Z axis as a cartesian heading.
double	getRotationFraction() Return the rotation of this sensor expressed as a fraction of the maximum possible reportable rotation
boolean	isCalibrating() Is the gyro performing a calibration operation?
int	rawX() Return the gyro's raw X value.
int	rawY() Return the gyro's raw Y value.
int	rawZ() Return the gyro's raw Z value.
void	resetZAxisIntegrator() Set the integrated Z axis to zero.
java.lang.String	status() Status of this sensor, in string form

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Method Detail

calibrate

void calibrate()

Calibrate the gyro. For the Modern Robotics device this will null, or reset, the Z axis heading.

Throws:

java.lang.UnsupportedOperationException - if unsupported; not all gyro devices support this feature

isCalibrating

boolean isCalibrating()

Is the gyro performing a calibration operation?

Returns:

true if yes, false otherwise

Throws:

java.lang.UnsupportedOperationException - if unsupported; not all gyro devices support this feature

getHeading

int getHeading()

Return the integrated Z axis as a cartesian heading.

Returns:

heading between 0-360.

Throws:

java.lang.UnsupportedOperationException - if unsupported; not all gyro devices support this feature

getRotationFraction

double getRotationFraction()

Return the rotation of this sensor expressed as a fraction of the maximum possible reportable rotation

Returns:

the current fractional rotation of this gyro (a value between 0.0 and 1.0)

Throws:

java.lang.UnsupportedOperationException - if unsupported; not all gyro devices support this feature

rawX

int rawX()

Return the gyro's raw X value.

Returns:

X value

Throws:

java.lang.UnsupportedOperationException - if unsupported; not all gyro devices support this feature

rawY

int rawY()

Return the gyro's raw Y value.

Returns:

Y value

Throws:

java.lang.UnsupportedOperationException - if unsupported; not all gyro devices support this feature

rawZ

int rawZ()

Return the gyro's raw Z value.

Returns:

Z value

Throws:

java.lang.UnsupportedOperationException - if unsupported; not all gyro devices support this feature

resetZAxisIntegrator

void resetZAxisIntegrator()

Set the integrated Z axis to zero.

Throws:

java.lang.UnsupportedOperationException - if unsupported; not all gyro devices support this feature

status

java.lang.String status()

Status of this sensor, in string form

Returns:

status