ev3dev.sensors.ev3

Class EV3GyroSensor

java.lang.Object

ev3dev.hardware.EV3DevDevice

ev3dev.hardware.EV3DevSensorDevice

ev3dev.sensors.BaseSensor

ev3dev.sensors.ev3.EV3GyroSensor

public class EV3GyroSensor
extends BaseSensor

EV3 Gyro sensors
The digital EV3 Gyro Sensor measures the sensors rotational motion and changes in its orientation.

Sensor configuration
Use reset() to recalibrate the sensors and to reset accumulated angle to zero. Keep the sensors motionless during a reset. The sensors shuld also be motionless during initialization.

See Sensor Product page See The leJOS sensors framework See leJOS conventions for SampleProviders

Field Summary

Fields

Modifier and Type	Field and Description
private static java.lang.String	LEGO_EV3_GYRO
private static java.lang.String	MODE_ANGLE
private static java.lang.String	MODE_RATE
private static java.lang.String	MODE_RATE_ANGLE

Fields inherited from class ev3dev.sensors.BaseSensor

currentMode, modes, SWITCH_DELAY

Fields inherited from class ev3dev.hardware.EV3DevSensorDevice

LEGO_ANALOG_SENSOR, LEGO_I2C, LEGO_UART_SENSOR, SENSOR_MODE, SENSOR_MODES

Fields inherited from class ev3dev.hardware.EV3DevDevice

ADDRESS, CURRENT_PLATFORM, DEVICE, ev3DevProperties, LEGO_PORT, LEGO_SENSOR, MODE, PATH_DEVICE

Constructor Summary

Constructors

Constructor and Description
EV3GyroSensor(Port portName)

Method Summary

Modifier and Type	Method and Description
SampleProvider	getAngleAndRateMode() EV3 Gyro sensor, Rate mode Measures both angle and angular velocity of the sensor.
SampleProvider	getAngleMode() EV3 Gyro sensors, Angle mode Measures the orientation of the sensors in respect to its start orientation.
SampleProvider	getRateMode() EV3 Gyro sensor, Rate mode Measures angular velocity of the sensor.
void	reset() Hardware calibration of the Gyro sensors and reset off accumulated angle to zero.

Methods inherited from class ev3dev.sensors.BaseSensor

fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, getName, getSystemMode, sampleSize, setCurrentMode, setCurrentMode, setModes, switchMode

Methods inherited from class ev3dev.hardware.EV3DevDevice

detect, getIntegerAttribute, getStringAttribute, setIntegerAttribute, setStringAttribute

Methods inherited from class java.lang.Object

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

Field Detail

LEGO_EV3_GYRO

private static final java.lang.String LEGO_EV3_GYRO

See Also:

Constant Field Values

MODE_RATE

private static final java.lang.String MODE_RATE

See Also:

Constant Field Values

MODE_ANGLE

private static final java.lang.String MODE_ANGLE

See Also:

Constant Field Values

MODE_RATE_ANGLE

private static final java.lang.String MODE_RATE_ANGLE

See Also:

Constant Field Values

Constructor Detail

EV3GyroSensor

public EV3GyroSensor(Port portName)

Method Detail

getRateMode

public SampleProvider getRateMode()

EV3 Gyro sensor, Rate mode
Measures angular velocity of the sensor.

Size and content of the sample
The sample contains one elements representing the angular velocity (in Degrees / second) of the sensor.

Configuration
The sensor can be recalibrated using the reset method of the sensor.

Returns:

A sampleProvider See leJOS conventions for SampleProviders

getAngleMode

public SampleProvider getAngleMode()

EV3 Gyro sensors, Angle mode
Measures the orientation of the sensors in respect to its start orientation.

Size and content of the sample
The sample contains one elements representing the orientation (in Degrees) of the sensors in respect to its start position.

Configuration
The start position can be set to the current position using the reset method of the sensors.

Returns:

A sampleProvider See leJOS conventions for SampleProviders

getAngleAndRateMode

public SampleProvider getAngleAndRateMode()

EV3 Gyro sensor, Rate mode
Measures both angle and angular velocity of the sensor.

Size and content of the sample
The sample contains two elements. The first element contains angular velocity (in degrees / second). The second element contain angle (in degrees).

Configuration
The sensor can be recalibrated using the reset method of the sensor.

Returns:

A sampleProvider See leJOS conventions for SampleProviders

reset

public void reset()

Hardware calibration of the Gyro sensors and reset off accumulated angle to zero.
The sensors should be motionless during calibration.