com.qualcomm.hardware.modernrobotics

Class ModernRoboticsI2cGyro

java.lang.Object

com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice<I2cDeviceSynch>

com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cGyro

All Implemented Interfaces:

Gyroscope, GyroSensor, HardwareDevice, I2cAddrConfig, I2cAddressableDevice, IntegratingGyroscope, OrientationSensor, RobotArmingStateNotifier.Callback

public class ModernRoboticsI2cGyro
extends I2cDeviceSynchDevice<I2cDeviceSynch>
implements GyroSensor, Gyroscope, IntegratingGyroscope, I2cAddrConfig

ModernRoboticsI2cGyro supports the Modern Robotics integrating gyro.

This sensor contains an L3GD20 MEMS three-axis digital output gyroscope. Internally, the chip is labelled (e.g.) "AGD2 2437 JR4IJ".

See Also:

MR Integrating Gyro, MR sensor documentation, L3GD20

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ModernRoboticsI2cGyro.Command
static class	ModernRoboticsI2cGyro.HeadingMode ModernRoboticsI2cGyro.HeadingMode can be used to configure the software to return either cartesian or cardinal headings.
static class	ModernRoboticsI2cGyro.MeasurementMode Deprecated. This provides little useful utility beyond isCalibrating()
static class	ModernRoboticsI2cGyro.Register

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

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
static I2cAddr	ADDRESS_I2C_DEFAULT
protected float	degreesPerSecondPerDigit
protected float	degreesPerZAxisTick
protected ModernRoboticsI2cGyro.HeadingMode	headingMode

Fields inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

deviceClient, deviceClientIsOwned, isInitialized

Constructor Summary

Constructors

Constructor and Description
ModernRoboticsI2cGyro(I2cDeviceSynch deviceClient)

Method Summary

Modifier and Type	Method and Description
void	calibrate() Calibrate the gyro.
protected float	degreesZFromIntegratedZ(int integratedZ)
protected boolean	doInitialize() Actually carries out the initialization of the instance.
Orientation	getAngularOrientation(AxesReference reference, AxesOrder order, AngleUnit angleUnit) Returns the absolute orientation of the sensor as a set three angles.
java.util.Set<Axis>	getAngularOrientationAxes() Returns the axes on which the sensor measures angular orientation.
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.
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
int	getHeading() Return the integrated Z axis as a cartesian heading.
ModernRoboticsI2cGyro.HeadingMode	getHeadingMode()
I2cAddr	getI2cAddress() Returns the I2C address currently in use to communicate with an I2C hardware device
int	getIntegratedZValue()
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
ModernRoboticsI2cGyro.MeasurementMode	getMeasurementMode() Deprecated.
double	getRotationFraction() Deprecated. This method has no utility for this gyro.
int	getZAxisOffset()
int	getZAxisScalingCoefficient()
boolean	isCalibrating() Is the gyro performing a calibration operation?
protected float	normalize0359(float degrees)
protected void	notSupported()
int	rawX() "Gyro Raw Values: The three fields X, Y and Z are the unprocessed values being obtained from the sensor element.
int	rawY() Return the gyro's raw Y value.
int	rawZ() Return the gyro's raw Z value.
byte	read8(ModernRoboticsI2cGyro.Register reg)
ModernRoboticsI2cGyro.Command	readCommand()
short	readShort(ModernRoboticsI2cGyro.Register reg)
void	resetZAxisIntegrator() Set the integrated Z axis to zero.
void	setHeadingMode(ModernRoboticsI2cGyro.HeadingMode headingMode)
void	setI2cAddress(I2cAddr newAddress) Configures a new I2C address to use
protected void	setOptimalReadWindow()
void	setZAxisOffset(short offset)
void	setZAxisScalingCoefficient(int zAxisScalingCoefficient)
java.lang.String	status() Status of this sensor, in string form
protected int	truncate(float angle)
void	write8(ModernRoboticsI2cGyro.Register reg, byte value)
void	writeCommand(ModernRoboticsI2cGyro.Command command)
void	writeShort(ModernRoboticsI2cGyro.Register reg, short value)

Methods inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

close, disengage, engage, getConnectionInfo, getDeviceClient, getVersion, initialize, initializeIfNecessary, onModuleStateChange, registerArmingStateCallback, resetDeviceConfigurationForOpMode

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getVersion, resetDeviceConfigurationForOpMode

Field Detail

ADDRESS_I2C_DEFAULT

public static final I2cAddr ADDRESS_I2C_DEFAULT

degreesPerSecondPerDigit

protected float degreesPerSecondPerDigit

headingMode

protected ModernRoboticsI2cGyro.HeadingMode headingMode

degreesPerZAxisTick

protected float degreesPerZAxisTick

Constructor Detail

ModernRoboticsI2cGyro

public ModernRoboticsI2cGyro(I2cDeviceSynch deviceClient)

Method Detail

setOptimalReadWindow

protected void setOptimalReadWindow()

doInitialize

protected boolean doInitialize()

Description copied from class: I2cDeviceSynchDevice

Actually carries out the initialization of the instance.

Specified by:

doInitialize in class I2cDeviceSynchDevice<I2cDeviceSynch>

Returns:

Whether the initialization was successful or not

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

read8

public byte read8(ModernRoboticsI2cGyro.Register reg)

write8

public void write8(ModernRoboticsI2cGyro.Register reg,
                   byte value)

readShort

public short readShort(ModernRoboticsI2cGyro.Register reg)

writeShort

public void writeShort(ModernRoboticsI2cGyro.Register reg,
                       short value)

writeCommand

public void writeCommand(ModernRoboticsI2cGyro.Command command)

readCommand

public ModernRoboticsI2cGyro.Command readCommand()

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)

getAngularOrientationAxes

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

Description copied from interface: OrientationSensor

Returns the axes on which the sensor measures angular orientation.

Specified by:

getAngularOrientationAxes in interface OrientationSensor

Returns:

the axes on which the sensor measures angular orientation.

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()

getAngularOrientation

public Orientation getAngularOrientation(AxesReference reference,
                                         AxesOrder order,
                                         AngleUnit angleUnit)

Description copied from interface: OrientationSensor

Returns the absolute orientation of the sensor as a set three angles. Axes on which absolute orientation is not measured are reported as zero.

Specified by:

getAngularOrientation in interface OrientationSensor

Parameters:

reference - the axes reference in which the result will be expressed

order - the axes order in which the result will be expressed

angleUnit - the angle units in which the result will be expressed

Returns:

the absolute orientation of the sensor

See Also:

Orientation

setHeadingMode

public void setHeadingMode(ModernRoboticsI2cGyro.HeadingMode headingMode)

getHeadingMode

public ModernRoboticsI2cGyro.HeadingMode getHeadingMode()

rawX

public int rawX()

"Gyro Raw Values: The three fields X, Y and Z are the unprocessed values being obtained from the sensor element. These values are updated at approximately 760Hz."

Specified by:

rawX in interface GyroSensor

Returns:

X value

See Also:

Modern Robotics sensor documentation

rawY

public int rawY()

Description copied from interface: GyroSensor

Return the gyro's raw Y value.

Specified by:

rawY in interface GyroSensor

Returns:

Y value

See Also:

Modern Robotics sensor documentation, rawX()

rawZ

public int rawZ()

Description copied from interface: GyroSensor

Return the gyro's raw Z value.

Specified by:

rawZ in interface GyroSensor

Returns:

Z value

See Also:

Modern Robotics sensor documentation, rawX()

getZAxisOffset

public int getZAxisOffset()

See Also:

Modern Robotics sensor documentation

setZAxisOffset

public void setZAxisOffset(short offset)

See Also:

Modern Robotics sensor documentation

getZAxisScalingCoefficient

public int getZAxisScalingCoefficient()

See Also:

Modern Robotics sensor documentation

setZAxisScalingCoefficient

public void setZAxisScalingCoefficient(int zAxisScalingCoefficient)

See Also:

Modern Robotics sensor documentation

getIntegratedZValue

public int getIntegratedZValue()

See Also:

Modern Robotics sensor documentation

getHeading

public int getHeading()

Description copied from interface: GyroSensor

Return the integrated Z axis as a cartesian heading.

Specified by:

getHeading in interface GyroSensor

Returns:

heading between 0-360.

truncate

protected int truncate(float angle)

normalize0359

protected float normalize0359(float degrees)

degreesZFromIntegratedZ

protected float degreesZFromIntegratedZ(int integratedZ)

resetZAxisIntegrator

public void resetZAxisIntegrator()

Description copied from interface: GyroSensor

Set the integrated Z axis to zero.

Specified by:

resetZAxisIntegrator in interface GyroSensor

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

calibrate

public void calibrate()

Description copied from interface: GyroSensor

Calibrate the gyro. For the Modern Robotics device this will null, or reset, the Z axis heading.

Specified by:

calibrate in interface GyroSensor

isCalibrating

public boolean isCalibrating()

Description copied from interface: GyroSensor

Is the gyro performing a calibration operation?

Specified by:

isCalibrating in interface GyroSensor

Returns:

true if yes, false otherwise

setI2cAddress

public void setI2cAddress(I2cAddr newAddress)

Description copied from interface: I2cAddrConfig

Configures a new I2C address to use

Specified by:

setI2cAddress in interface I2cAddrConfig

Parameters:

newAddress - the new I2C address to use

getI2cAddress

public I2cAddr getI2cAddress()

Description copied from interface: I2cAddressableDevice

Returns the I2C address currently in use to communicate with an I2C hardware device

Specified by:

getI2cAddress in interface I2cAddressableDevice

Returns:

the I2C address currently in use

getRotationFraction

@Deprecated
public double getRotationFraction()

Deprecated. This method has no utility for this gyro.

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)

getMeasurementMode

@Deprecated
public ModernRoboticsI2cGyro.MeasurementMode getMeasurementMode()

Deprecated.

This provides little useful utility beyond isCalibrating()

notSupported

protected void notSupported()