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

#include <frc/xrp/XRPGyro.h>

Public Member Functions
	XRPGyro ()
	Constructs an XRPGyro.

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

frc::Rotation2d	GetRotation2d () const
	Gets the angle the robot is facing.

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

units::radians_per_second_t	GetRateX () const
	Gets the rate of turn in radians-per-second around the X-axis.

units::radians_per_second_t	GetRateY () const
	Gets the rate of turn in radians-per-second around the Y-axis.

units::radians_per_second_t	GetRateZ () const
	Gets the rate of turn in radians-per-second around the Z-axis.

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

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

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

void	Reset ()
	Reset the gyro angles to 0.

Detailed Description

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

This class is for the XRP onboard gyro, and will only work in simulation/XRP mode. Only one instance of a XRPGyro is supported.

Constructor & Destructor Documentation

◆ XRPGyro()

frc::XRPGyro::XRPGyro ( )

Constructs an XRPGyro.

Only one instance of a XRPGyro is supported.

Member Function Documentation

◆ GetAngle()

units::radian_t frc::XRPGyro::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->2.1π. This allows algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps from 2π to 0 radians on the second time around.

Returns: the current heading of the robot in radians.

◆ GetAngleX()

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

Gets the currently reported angle around the X-axis.

Returns: current angle around X-axis in radians

◆ GetAngleY()

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

Gets the currently reported angle around the Y-axis.

Returns: current angle around Y-axis in radians

◆ GetAngleZ()

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

Gets the currently reported angle around the Z-axis.

Returns: current angle around Z-axis in radians

◆ GetRate()

units::radians_per_second_t frc::XRPGyro::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 in radians per second

◆ GetRateX()

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

Gets the rate of turn in radians-per-second around the X-axis.

Returns: rate of turn in radians-per-second

◆ GetRateY()

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

Gets the rate of turn in radians-per-second around the Y-axis.

Returns: rate of turn in radians-per-second

◆ GetRateZ()

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

Gets the rate of turn in radians-per-second around the Z-axis.

Returns: rate of turn in radians-per-second

◆ GetRotation2d()

frc::Rotation2d frc::XRPGyro::GetRotation2d ( ) const

Gets the angle the robot is facing.

Returns: A Rotation2d with the current heading.

◆ Reset()

void frc::XRPGyro::Reset ( )

Reset the gyro angles to 0.

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

frc/xrp/XRPGyro.h

Public Member Functions