Package lejos.utility

Class GyroDirectionFinder

java.lang.Object

lejos.utility.GyroDirectionFinder

All Implemented Interfaces:

Calibrate, DirectionFinder

public class GyroDirectionFinder
extends java.lang.Object
implements DirectionFinder

Implementation of the DirectionFinder interface that integrates repeated rate-of-turn readings from a gyro sensor into a continuously updated heading. This class is very similar to the compass sensors, except that the direction returned does not convey true heading (north, south, etc) but rather relative heading change since the last time setDegrees() or resetCartesianZero() was called.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
private class	GyroDirectionFinder.Regulator This is the private thread class that is used to continuously integrate successive readings from the gyro

Field Summary

Fields

Modifier and Type	Field and Description
private float	acceleration
private boolean	calibrating
private float	cartesianCalibrate
private Gyroscope	gyro
private float	heading
private GyroDirectionFinder.Regulator	reg

Constructor Summary

Constructors

Constructor and Description
GyroDirectionFinder(Gyroscope gyro) Creates and initializes a new GyroDirectionFinder using passed GyroSensor
GyroDirectionFinder(Gyroscope gyro, boolean calibrate) Creates and initializes a new GyroDirectionFinder using passed GyroSensor and does the GyroSensor.recalibrateOffset() method.

Method Summary

Modifier and Type	Method and Description
float	getAngularAcceleration() Returns the current rate at which the angular velocity is increasing or decreasing in degrees-per-second, per second.
float	getAngularVelocity() Returns the current rate-of-turn in degrees/second, as read by the GyroSensor instance passed in the constructor.
float	getDegrees() Returns the directional heading in degrees.
float	getDegreesCartesian() Returns the current rate-of-turn in degrees, as read by the GyroSensor.
void	resetCartesianZero() Resets the current heading to zero.
void	setDegrees(float heading) Resets the current heading to a desired value.
void	setDegreesCartesian(float heading) Resets the current heading to a desired value.
void	startCalibration() Find offset/bias of gyro while at rest (ensure it is at rest).
void	stopCalibration() NO FUNCTIONALITY EQUIVALENT for GyroSensor so implemented just to satisfy the DirectionFinder interface.

Methods inherited from class java.lang.Object

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

Field Detail

cartesianCalibrate

private float cartesianCalibrate

heading

private float heading

acceleration

private float acceleration

calibrating

private boolean calibrating

reg

private GyroDirectionFinder.Regulator reg

gyro

private Gyroscope gyro

Constructor Detail

GyroDirectionFinder

public GyroDirectionFinder(Gyroscope gyro)

Creates and initializes a new GyroDirectionFinder using passed GyroSensor

Parameters:

gyro - a gyro sensor instance

GyroDirectionFinder

public GyroDirectionFinder(Gyroscope gyro,
                           boolean calibrate)

Creates and initializes a new GyroDirectionFinder using passed GyroSensor and does the GyroSensor.recalibrateOffset() method.

Parameters:

gyro - A gyro sensor instance

Method Detail

setDegrees

public void setDegrees(float heading)

Resets the current heading to a desired value.

See Also:

getDegrees()

getDegrees

public float getDegrees()

Returns the directional heading in degrees. Includes "winding", so the value could be greater than 360 or less than 0 if the robot has done multiple rotations since the last call to resetCartesianZero().

Returns:

Heading in degrees.

See Also:

setDegrees(float)

getAngularVelocity

public float getAngularVelocity()

Returns the current rate-of-turn in degrees/second, as read by the GyroSensor instance passed in the constructor.

Returns:

Angular velocity in degrees.

getAngularAcceleration

public float getAngularAcceleration()

Returns the current rate at which the angular velocity is increasing or decreasing in degrees-per-second, per second.

Returns:

Angular acceleration in degrees-per-second per second.

getDegreesCartesian

public float getDegreesCartesian()

Returns the current rate-of-turn in degrees, as read by the GyroSensor.

Specified by:

getDegreesCartesian in interface DirectionFinder

Returns:

Heading in degrees.

setDegreesCartesian

public void setDegreesCartesian(float heading)

Resets the current heading to a desired value.

resetCartesianZero

public void resetCartesianZero()

Resets the current heading to zero.

Specified by:

resetCartesianZero in interface DirectionFinder

startCalibration

public void startCalibration()

Find offset/bias of gyro while at rest (ensure it is at rest). This is done by calling the recalibrateOffset() method of the GyroSensor instance passed in the constructor. This takes 3 seconds.

Specified by:

startCalibration in interface Calibrate

stopCalibration

public void stopCalibration()

NO FUNCTIONALITY EQUIVALENT for GyroSensor so implemented just to satisfy the DirectionFinder interface. Does nothing.

Specified by:

stopCalibration in interface Calibrate