Package edu.wpi.first.wpilibj.romi

Class RomiGyro

java.lang.Object
edu.wpi.first.wpilibj.romi.RomiGyro
public class RomiGyro extends Object
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 Summary

    Constructors
    Constructor
    Description
    RomiGyro()
    Create a new RomiGyro.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    close()
    Close out the SimDevice.
    double
    getAngle()
    Return the actual angle in degrees that the robot is currently facing.
    double
    getAngleX()
    Get the currently reported angle around the X-axis.
    double
    getAngleY()
    Get the currently reported angle around the X-axis.
    double
    getAngleZ()
    Get the currently reported angle around the Z-axis.
    double
    getRate()
    Return the rate of rotation of the gyro
    double
    getRateX()
    Get the rate of turn in degrees-per-second around the X-axis.
    double
    getRateY()
    Get the rate of turn in degrees-per-second around the Y-axis.
    double
    getRateZ()
    Get the rate of turn in degrees-per-second around the Z-axis.
    void
    reset()
    Reset the gyro angles to 0.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • RomiGyro

      public RomiGyro()
      Create a new RomiGyro.

  • Method Details

    • getRateX

      public double getRateX()
      Get the rate of turn in degrees-per-second around the X-axis.
      Returns:
      rate of turn in degrees-per-second

    • getRateY

      public double getRateY()
      Get the rate of turn in degrees-per-second around the Y-axis.
      Returns:
      rate of turn in degrees-per-second

    • getRateZ

      public double getRateZ()
      Get the rate of turn in degrees-per-second around the Z-axis.
      Returns:
      rate of turn in degrees-per-second

    • getAngleX

      public double getAngleX()
      Get the currently reported angle around the X-axis.
      Returns:
      current angle around X-axis in degrees

    • getAngleY

      public double getAngleY()
      Get the currently reported angle around the X-axis.
      Returns:
      current angle around Y-axis in degrees

    • getAngleZ

      public double getAngleZ()
      Get the currently reported angle around the Z-axis.
      Returns:
      current angle around Z-axis in degrees

    • reset

      public void reset()
      Reset the gyro angles to 0.

    • getAngle

      public double getAngle()
      Return the actual angle in degrees 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 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.

    • getRate

      public double getRate()
      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 degrees per second

    • close

      public void close()
      Close out the SimDevice.