Package trclib.sensor

Interface TrcGyro.GyroData

All Known Implementing Classes:
FtcMRI2cGyro
Enclosing class:
TrcGyro
public static interface TrcGyro.GyroData

  • Method Details

    • setXInverted

      void setXInverted(boolean inverted)
      This method inverts the x-axis. This is useful if the orientation of the gyro x-axis is such that the data goes the wrong direction.
      Parameters:
      inverted - specifies true to invert x-axis, false otherwise.

    • setYInverted

      void setYInverted(boolean inverted)
      This method inverts the y-axis. This is useful if the orientation of the gyro y-axis is such that the data goes the wrong direction.
      Parameters:
      inverted - specifies true to invert y-axis, false otherwise.

    • setZInverted

      void setZInverted(boolean inverted)
      This method inverts the z-axis. This is useful if the orientation of the gyro z-axis is such that the data goes the wrong direction.
      Parameters:
      inverted - specifies true to invert z-axis, false otherwise.

    • getXRotationRate

      TrcSensor.SensorData<Double> getXRotationRate()
      This method returns the rotation rate on the x-axis.
      Returns:
      X rotation rate.

    • getYRotationRate

      TrcSensor.SensorData<Double> getYRotationRate()
      This method returns the rotation rate on the y-axis.
      Returns:
      Y rotation rate.

    • getZRotationRate

      TrcSensor.SensorData<Double> getZRotationRate()
      This method returns the rotation rate on the z-axis.
      Returns:
      Z rotation rate.

    • getXHeading

      TrcSensor.SensorData<Double> getXHeading()
      This method returns the heading of the x-axis. If there is an integrator, we call the integrator to get the heading. Else if we have a CardinalConverter, we call the converter to get the heading else we call the platform dependent gyro to get the raw heading value.
      Returns:
      X heading.

    • getYHeading

      TrcSensor.SensorData<Double> getYHeading()
      This method returns the heading of the y-axis. If there is an integrator, we call the integrator to get the heading. Else if we have a CardinalConverter, we call the converter to get the heading else we call the platform dependent gyro to get the raw heading value.
      Returns:
      Y heading.

    • getZHeading

      TrcSensor.SensorData<Double> getZHeading()
      This method returns the heading of the z-axis. If there is an integrator, we call the integrator to get the heading. Else if we have a CardinalConverter, we call the converter to get the heading else we call the platform dependent gyro to get the raw heading value.
      Returns:
      Z heading.

    • resetXIntegrator

      void resetXIntegrator()
      This method resets the integrator on the x-axis.

    • resetYIntegrator

      void resetYIntegrator()
      This method resets the integrator on the y-axis.

    • resetZIntegrator

      void resetZIntegrator()
      This method resets the integrator on the z-axis.