Use a rate gyro to return the robots heading relative to a starting position. More...

#include <frc/romi/RomiGyro.h>

Public Member Functions
	RomiGyro ()

units::radian_t	GetAngle () const
	Return the actual angle in radians that the robot is currently facing.

units::radians_per_second_t	GetRate () const
	Return the rate of rotation of the gyro.

units::radians_per_second_t	GetRateX () const
	Get the rate of turn in around the X-axis.

units::radians_per_second_t	GetRateY () const
	Get the rate of turn in around the Y-axis.

units::radians_per_second_t	GetRateZ () const
	Get the rate of turn around the Z-axis.

units::radian_t	GetAngleX () const
	Get the currently reported angle around the X-axis.

units::radian_t	GetAngleY () const
	Get the currently reported angle around the Y-axis.

units::radian_t	GetAngleZ () const
	Get the currently reported angle around the Z-axis.

void	Reset ()
	Resets the gyro.

Detailed Description

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.

Constructor & Destructor Documentation

◆ RomiGyro()

frc::RomiGyro::RomiGyro ( )

Member Function Documentation

◆ GetAngle()

units::radian_t frc::RomiGyro::GetAngle ( ) const

Return the actual angle in radians 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 2π->3π radians. This allows algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps from 2π to 0 on the second time around.

Returns: The current heading of the robot.

◆ GetAngleX()

units::radian_t frc::RomiGyro::GetAngleX ( ) const

Get the currently reported angle around the X-axis.

Returns: Current angle around X-axis.

◆ GetAngleY()

units::radian_t frc::RomiGyro::GetAngleY ( ) const

Get the currently reported angle around the Y-axis.

Returns: Current angle around Y-axis.

◆ GetAngleZ()

units::radian_t frc::RomiGyro::GetAngleZ ( ) const

Get the currently reported angle around the Z-axis.

Returns: Current angle around Z-axis.

◆ GetRate()

units::radians_per_second_t frc::RomiGyro::GetRate ( ) const

Return the rate of rotation of the gyro.

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

Returns: The current rate.

◆ GetRateX()

units::radians_per_second_t frc::RomiGyro::GetRateX ( ) const

Get the rate of turn in around the X-axis.

Returns: Rate of turn.

◆ GetRateY()

units::radians_per_second_t frc::RomiGyro::GetRateY ( ) const

Get the rate of turn in around the Y-axis.

Returns: Rate of turn.

◆ GetRateZ()

units::radians_per_second_t frc::RomiGyro::GetRateZ ( ) const

Get the rate of turn around the Z-axis.

Returns: Rate of turn.

◆ Reset()

void frc::RomiGyro::Reset ( )

Resets the gyro.

The documentation for this class was generated from the following file:

frc/romi/RomiGyro.h

Public Member Functions