Package edu.wpi.first.wpilibj.xrp

Class XRPGyro

java.lang.Object
edu.wpi.first.wpilibj.xrp.XRPGyro
public class XRPGyro extends Object
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 Summary

    Constructors
    Constructor
    Description
    XRPGyro()
    Constructs an XRPGyro.

  • 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.
    Rotation2d
    getRotation2d()
    Gets the angle the robot is facing.
    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

    • XRPGyro

      public XRPGyro()
      Constructs an XRPGyro.

      Only one instance of a XRPGyro is supported.

  • 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.

    • getRotation2d

      public Rotation2d getRotation2d()
      Gets the angle the robot is facing.
      Returns:
      A Rotation2d with the current heading.

    • 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.