com.qualcomm.hardware.hitechnic

Class HiTechnicNxtGyroSensor

java.lang.Object

com.qualcomm.robotcore.hardware.LegacyModulePortDeviceImpl

com.qualcomm.hardware.hitechnic.HiTechnicNxtGyroSensor

All Implemented Interfaces:

AnalogSensor, Gyroscope, GyroSensor, HardwareDevice, LegacyModulePortDevice, RobotArmingStateNotifier.Callback

public class HiTechnicNxtGyroSensor
extends LegacyModulePortDeviceImpl
implements GyroSensor, Gyroscope, AnalogSensor

HiTechnicNxtGyroSensor supports the legacy HiTechnic gyro sensor. This sensor is an analog sensor that must be connected using a Core Legacy Module.

"The NXT Gyro Sensor contains a single axis gyroscopic sensor that detects rotation and returns a value representing the number of degrees per second of rotation. The Gyro Sensor can measure up to +/- 360° per second of rotation."

"The rotation rate can be read up to approximately 300 times per second"

Note that the value coming out of the sensor is the rotation rate in the clockwise direction.

See Also:

HiTechnic Gyro Sensor

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
protected double	biasVoltage The voltage indicting zero angular rotation
protected double	degreesPerSecondPerVolt The conversion factor between voltage and angular rotation rate
protected boolean	isCalibrating whether or not the gyroscope is currently calibrating
static java.lang.String	TAG

Fields inherited from class com.qualcomm.robotcore.hardware.LegacyModulePortDeviceImpl

module, physicalPort

Constructor Summary

Constructors

Constructor and Description
HiTechnicNxtGyroSensor(LegacyModule legacyModule, int physicalPort)

Method Summary

Modifier and Type	Method and Description
void	calibrate() Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using default calibration parameters.
void	calibrate(int msCalibrationDuration, int msCalibrationInterval) Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using specified calibration parameters
void	calibrate(int msCalibrationDuration, int msCalibrationInterval, int msSettlingTime) Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using specified calibration parameters
void	close() Closes this device
AngularVelocity	getAngularVelocity(AngleUnit unit) Returns the angular rotation rate across all the axes measured by the gyro.
java.util.Set<Axis>	getAngularVelocityAxes() Returns the axes on which the gyroscope measures angular velocity.
protected float	getAngularZVelocity(AngleUnit unit)
double	getBiasVoltage()
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
double	getDefaultBiasVoltage()
double	getDefaultDegreesPerSecondPerVolt()
double	getDegreesPerSecondPerVolt()
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
int	getHeading() Method not supported by hardware.
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
double	getMaxVoltage()
double	getRotationFraction() Return the rotation of this sensor expressed as a fraction of the maximum possible reportable rotation
int	getVersion() Version
boolean	isCalibrating() Returns whether or not the gyro is currently calibrating
protected void	moduleNowArmedOrPretending() intended as a subclass hook
protected void	notSupported()
int	rawX() Method not supported by hardware.
int	rawY() Method not supported by hardware.
int	rawZ() Method not supported by hardware.
double	readRawVoltage() Returns the sensor's current value as a raw voltage level.
void	resetDeviceConfigurationForOpMode() Resets the device's configuration to that which is expected at the beginning of an OpMode.
void	resetZAxisIntegrator() Method not supported by hardware.
void	setBiasVoltage(double biasVoltage)
void	setDegreesPerSecondPerVolt(double degreesPerSecondPerVolt)
protected void	sleep(int ms)
java.lang.String	status() Status of this sensor, in string form
java.lang.String	toString()

Methods inherited from class com.qualcomm.robotcore.hardware.LegacyModulePortDeviceImpl

finishConstruction, getLegacyModule, getPort, moduleNowDisarmed, onModuleStateChange

Methods inherited from class java.lang.Object

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

Field Detail

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

biasVoltage

protected double biasVoltage

The voltage indicting zero angular rotation

degreesPerSecondPerVolt

protected double degreesPerSecondPerVolt

The conversion factor between voltage and angular rotation rate

isCalibrating

protected boolean isCalibrating

whether or not the gyroscope is currently calibrating

Constructor Detail

HiTechnicNxtGyroSensor

public HiTechnicNxtGyroSensor(LegacyModule legacyModule,
                              int physicalPort)

Method Detail

moduleNowArmedOrPretending

protected void moduleNowArmedOrPretending()

Description copied from class: LegacyModulePortDeviceImpl

intended as a subclass hook

Overrides:

moduleNowArmedOrPretending in class LegacyModulePortDeviceImpl

getBiasVoltage

public double getBiasVoltage()

setBiasVoltage

public void setBiasVoltage(double biasVoltage)

getDegreesPerSecondPerVolt

public double getDegreesPerSecondPerVolt()

setDegreesPerSecondPerVolt

public void setDegreesPerSecondPerVolt(double degreesPerSecondPerVolt)

getDefaultDegreesPerSecondPerVolt

public double getDefaultDegreesPerSecondPerVolt()

getDefaultBiasVoltage

public double getDefaultBiasVoltage()

getAngularVelocityAxes

public java.util.Set<Axis> getAngularVelocityAxes()

Description copied from interface: Gyroscope

Returns the axes on which the gyroscope measures angular velocity. Some gyroscopes measure angular velocity on all three axes (X, Y, & Z) while others measure on only a subset, typically the Z axis. This method allows you to determine what information is usefully returned through Gyroscope.getAngularVelocity(AngleUnit).

Specified by:

getAngularVelocityAxes in interface Gyroscope

Returns:

the axes on which the gyroscope measures angular velocity.

See Also:

Gyroscope.getAngularVelocity(AngleUnit)

getAngularVelocity

public AngularVelocity getAngularVelocity(AngleUnit unit)

Description copied from interface: Gyroscope

Returns the angular rotation rate across all the axes measured by the gyro. Axes on which angular velocity is not measured are reported as zero.

Specified by:

getAngularVelocity in interface Gyroscope

Parameters:

unit - the unit in which the rotation rates are to be returned (the time dimension is always inverse-seconds).

Returns:

the angular rotation rate across all the supported axes

See Also:

Gyroscope.getAngularVelocityAxes()

getAngularZVelocity

protected float getAngularZVelocity(AngleUnit unit)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

calibrate

public void calibrate()

Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using default calibration parameters.

Specified by:

calibrate in interface GyroSensor

calibrate

public void calibrate(int msCalibrationDuration,
                      int msCalibrationInterval)

Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using specified calibration parameters

Parameters:

msCalibrationDuration - the amount of time to spend on calibration

msCalibrationInterval - the interval, in ms, to pause between each

calibrate

public void calibrate(int msCalibrationDuration,
                      int msCalibrationInterval,
                      int msSettlingTime)

Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using specified calibration parameters

Parameters:

msCalibrationDuration - the amount of time to spend on calibration

msCalibrationInterval - the interval, in ms, to pause between each

msSettlingTime - the initial duration, in ms, to allow the gyro to settle

sleep

protected void sleep(int ms)

isCalibrating

public boolean isCalibrating()

Returns whether or not the gyro is currently calibrating

Specified by:

isCalibrating in interface GyroSensor

Returns:

whether or not the gyro is currently calibrating

getRotationFraction

public double getRotationFraction()

Description copied from interface: GyroSensor

Return the rotation of this sensor expressed as a fraction of the maximum possible reportable rotation

Specified by:

getRotationFraction in interface GyroSensor

Returns:

the current fractional rotation of this gyro (a value between 0.0 and 1.0)

readRawVoltage

public double readRawVoltage()

Description copied from interface: AnalogSensor

Returns the sensor's current value as a raw voltage level. Note that for Returns the light level voltage as reported by the sensor. Note that returned values INCREASE as the light energy INCREASES.

Specified by:

readRawVoltage in interface AnalogSensor

Returns:

unscaled / unclipped voltage level reported by the device

getMaxVoltage

public double getMaxVoltage()

getHeading

public int getHeading()

Method not supported by hardware.

Specified by:

getHeading in interface GyroSensor

Returns:

nothing

Throws:

java.lang.UnsupportedOperationException

rawX

public int rawX()

Method not supported by hardware.

Specified by:

rawX in interface GyroSensor

Returns:

nothing

Throws:

java.lang.UnsupportedOperationException

rawY

public int rawY()

Method not supported by hardware.

Specified by:

rawY in interface GyroSensor

Returns:

nothing

Throws:

java.lang.UnsupportedOperationException

rawZ

public int rawZ()

Method not supported by hardware.

Specified by:

rawZ in interface GyroSensor

Returns:

nothing

Throws:

java.lang.UnsupportedOperationException

resetZAxisIntegrator

public void resetZAxisIntegrator()

Method not supported by hardware.

Specified by:

resetZAxisIntegrator in interface GyroSensor

Throws:

java.lang.UnsupportedOperationException

status

public java.lang.String status()

Description copied from interface: GyroSensor

Status of this sensor, in string form

Specified by:

status in interface GyroSensor

Returns:

status

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

Description copied from interface: HardwareDevice

Resets the device's configuration to that which is expected at the beginning of an OpMode. For example, motors will reset the their direction to 'forward'.

Specified by:

resetDeviceConfigurationForOpMode in interface HardwareDevice

close

public void close()

Description copied from interface: HardwareDevice

Closes this device

Specified by:

close in interface HardwareDevice

notSupported

protected void notSupported()