okapi::ADIGyro class
#include <include/okapi/impl/device/rotarysensor/adiGyro.hpp>

Contents

Base classes

class ContinuousRotarySensor

Constructors, destructors, conversion operators

ADIGyro(std::uint8_t iport, double imultiplier = 1)
A gyroscope on the given ADI port.
ADIGyro(std::pair<std::uint8_t, std::uint8_t> iports, double imultiplier = 1)
A gyroscope on the given ADI port.

Public functions

auto get() const -> double override
Get the current sensor value.
auto getRemapped(double iupperBound = 1800, double ilowerBound = -1800) const -> double
Get the current sensor value remapped into the target range ([-1800, 1800] by default).
auto reset() -> std::int32_t override
Reset the sensor to zero.
auto controllerGet() -> double override
Get the sensor value for use in a control loop.

Protected variables

pros::c::ext_adi_gyro_t gyro

Function documentation

okapi::ADIGyro::ADIGyro(std::uint8_t iport, double imultiplier = 1)

A gyroscope on the given ADI port.

Parameters
iport The ADI port number ([1, 8], [a, h], [A, H]).
imultiplier A value multiplied by the gyro heading value.

If the port has not previously been configured as a gyro, then the constructor will block for 1 second for calibration. The gyro measures in tenths of a degree, so there are 3600 measurement points per revolution.

auto gyro = ADIGyro('A');

okapi::ADIGyro::ADIGyro(std::pair<std::uint8_t, std::uint8_t> iports, double imultiplier = 1)

A gyroscope on the given ADI port.

Parameters
iports The ports the gyro is plugged in to in the order {smart port, gyro port}. The smart port is the smart port number ([1, 21]). The gyro port is the ADI port number ([1, 8], [a, h], [A, H]).
imultiplier A value multiplied by the gyro heading value.

If the port has not previously been configured as a gyro, then the constructor will block for 1 second for calibration. The gyro measures in tenths of a degree, so there are 3600 measurement points per revolution.

auto gyro = ADIGyro({1, 'A'}, 1);

Note to developers: Keep the default value on imultiplier so that users get an error if they do ADIGyro({1, 'A'}). Without it, this calls the non-ext-adi constructor.

double okapi::ADIGyro::get() const override

Get the current sensor value.

Returns the current sensor value, or PROS_ERR on a failure.

double okapi::ADIGyro::getRemapped(double iupperBound = 1800, double ilowerBound = -1800) const

Get the current sensor value remapped into the target range ([-1800, 1800] by default).

Parameters
iupperBound the upper bound of the range.
ilowerBound the lower bound of the range.
Returns the remapped sensor value.

std::int32_t okapi::ADIGyro::reset() override

Reset the sensor to zero.

Returns 1 on success, PROS_ERR on fail

double okapi::ADIGyro::controllerGet() override

Get the sensor value for use in a control loop.

Returns the current sensor value, or PROS_ERR on a failure.

This method might be automatically called in another thread by the controller.