Package ftclib.archive

Class FtcAndroidGyro

java.lang.Object

trclib.sensor.TrcSensor<TrcGyro.DataType>

trclib.sensor.TrcGyro

ftclib.archive.FtcAndroidGyro

All Implemented Interfaces:

TrcOdometrySensor

public class FtcAndroidGyro
extends TrcGyro

This class implements the Android gyro extending TrcGyro. It provides implementation of the abstract methods in TrcGyro. It supports 3 axes: x, y and z. It provides rotation data for all 3 axes. However, it doesn't provide any heading data.

Nested Class Summary

Nested classes/interfaces inherited from class trclib.sensor.TrcGyro

TrcGyro.DataType, TrcGyro.GyroData

Nested classes/interfaces inherited from class trclib.sensor.TrcSensor

TrcSensor.DataSource<D>, TrcSensor.SensorData<T>

Nested classes/interfaces inherited from interface trclib.sensor.TrcOdometrySensor

TrcOdometrySensor.Odometry

Field Summary

Fields

Modifier and Type	Field	Description
private final FtcAndroidSensor	sensor

Fields inherited from class trclib.sensor.TrcGyro

GYRO_HAS_X_AXIS, GYRO_HAS_Y_AXIS, GYRO_HAS_Z_AXIS, GYRO_INTEGRATE

Fields inherited from class trclib.sensor.TrcSensor

instanceName, tracer

Constructor Summary

Constructors

Constructor	Description
FtcAndroidGyro(String instanceName)	Constructor: Creates an instance of the object.
FtcAndroidGyro(String instanceName, TrcFilter[] filters)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	calibrate()	This method calibrates the sensor.
TrcSensor.SensorData<Double>	getRawXData(TrcGyro.DataType dataType)	This method returns the raw data of the specified type for the x-axis.
TrcSensor.SensorData<Double>	getRawYData(TrcGyro.DataType dataType)	This method returns the raw data of the specified type for the y-axis.
TrcSensor.SensorData<Double>	getRawZData(TrcGyro.DataType dataType)	This method returns the raw data of the specified type for the z-axis.
void	setEnabled(boolean enabled)	This method enables/disables the sensor.

Methods inherited from class trclib.sensor.TrcGyro

getName, getOdometry, getRawData, getXHeading, getXRotationRate, getYHeading, getYRotationRate, getZHeading, getZRotationRate, printElapsedTime, resetOdometry, resetXIntegrator, resetXWrapValueConverter, resetYIntegrator, resetYWrapValueConverter, resetZIntegrator, resetZWrapValueConverter, setElapsedTimerEnabled, setXInverted, setXScale, setXValueRange, setYInverted, setYScale, setYValueRange, setZInverted, setZScale, setZValueRange, toString

Methods inherited from class trclib.sensor.TrcSensor

calibrate, calibrate, getNumAxes, getProcessedData, isCalibrating, setInverted, setScale, setScaleAndOffset

Methods inherited from class java.lang.Object

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

Methods inherited from interface trclib.sensor.TrcOdometrySensor

getOdometries, getOdometry

Field Details

sensor

private final FtcAndroidSensor sensor

Constructor Details

FtcAndroidGyro

public FtcAndroidGyro(String instanceName,
 TrcFilter[] filters)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

filters - specifies an array of filters to use for filtering sensor noise, one for each axis. Since we have 3 axes, the array should have 3 elements. If no filters are used, it can be set to null.

FtcAndroidGyro

public FtcAndroidGyro(String instanceName)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

Method Details

setEnabled

public void setEnabled(boolean enabled)

This method enables/disables the sensor.

Overrides:

setEnabled in class TrcGyro

Parameters:

enabled - specifies true if enabling, false otherwise.

calibrate

public void calibrate()

This method calibrates the sensor. If the sensor is not enabled, it must enable it first before starting calibration. It will disable the sensor if it was disabled before calibration.

getRawXData

public TrcSensor.SensorData<Double> getRawXData(TrcGyro.DataType dataType)

This method returns the raw data of the specified type for the x-axis.

Specified by:

getRawXData in class TrcGyro

Parameters:

dataType - specifies the data type.

Returns:

raw data of the specified type for the x-axis.

getRawYData

public TrcSensor.SensorData<Double> getRawYData(TrcGyro.DataType dataType)

This method returns the raw data of the specified type for the y-axis.

Specified by:

getRawYData in class TrcGyro

Parameters:

dataType - specifies the data type.

Returns:

raw data of the specified type for the y-axis.

getRawZData

public TrcSensor.SensorData<Double> getRawZData(TrcGyro.DataType dataType)

This method returns the raw data of the specified type for the z-axis.

Specified by:

getRawZData in class TrcGyro

Parameters:

dataType - specifies the data type.

Returns:

raw data of the specified type for the z-axis.