The Gyro class measures the orientation of the robot. More...

Public Member Functions
	Gyro (int d)
double	getYaw ()
Rotation2d	getRotation2d ()
void	reset (double yaw)
void	invert (boolean invert)

Static Public Member Functions
static double	normalize (double angle, double range)
static double	normalizeAngle (double angle)

Detailed Description

The Gyro class measures the orientation of the robot.

Author: John Gaby

Definition at line 35 of file Gyro.java.

Constructor & Destructor Documentation

◆ Gyro() [1/2]

robotCore.Gyro.Gyro ( int d )

Definition at line 45 of file Gyro.java.

◆ Gyro() [2/2]

robotCore.Gyro.Gyro ( )

Definition at line 63 of file Gyro.java.

Member Function Documentation

◆ getRotation2d()

Rotation2d robotCore.Gyro.getRotation2d ( )

Returns the angle using the Rotation2d format.

Returns: Returns the current angle using the Rotation2d format.

Definition at line 147 of file Gyro.java.

◆ getYaw()

double robotCore.Gyro.getYaw ( )

Gets only the yaw.

Returns: Returns the yaw.

Definition at line 137 of file Gyro.java.

◆ invert()

void robotCore.Gyro.invert ( boolean invert )

Specifies that the sense of the yaw be inverted. I.E. controls whether the yaw value increases or decreases when the robot turns clockwise. In general, the Pure Pursuit path following assumes that the yaw will decrease when the robot turns clockwise.

Parameters

invert - If true, inverts the direction of the yaw

Definition at line 171 of file Gyro.java.

◆ normalize()

double robotCore.Gyro.normalize	(	double	angle,
		double	range )

static

Normalizes the value to be between -range/2 and +range/2.

Returns: Returns same value but guarenteed to be between -range/2 and +range/2

Definition at line 104 of file Gyro.java.

◆ normalizeAngle()

double robotCore.Gyro.normalizeAngle ( double angle )

static

Normalizes an angle to between -180 and +180 degrees.

Returns: Returns same angle but guarenteed to be between -180 and +180 degrees.

Definition at line 122 of file Gyro.java.

◆ reset()

void robotCore.Gyro.reset ( double yaw )

Resets the yaw and position of the robot.