Package lejos.hardware.sensor

Class EV3GyroSensor

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.UARTSensor

lejos.hardware.sensor.EV3GyroSensor

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, SensorMode, SensorModes, SampleProvider

public class EV3GyroSensor
extends UARTSensor

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

Supported modes
Mode name	Description	unit(s)	Getter
Angle	Measures the orientation of the sensor	Degrees	getAngleMode()
Rate	Measures the angular velocity of the sensor	Degrees / second	getRateMode()
Rate and Angle	Measures both angle and angular velocity	Degrees, Degrees / second	getAngleAndRateMode()

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

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

Author:

Andy, Aswin Bouwmeester

Field Summary

Fields inherited from class lejos.hardware.sensor.UARTSensor

currentMode, port

Fields inherited from class lejos.hardware.sensor.BaseSensor

modes

Fields inherited from class lejos.hardware.Device

closeList

Constructor Summary

Constructors

Constructor	Description
EV3GyroSensor(Port port)
EV3GyroSensor(UARTPort port)

Method Summary

Modifier and Type	Method	Description
SampleProvider	getAngleAndRateMode()	EV3 Gyro sensor, Rate mode Measures both angle and angular velocity of the sensor.
SampleProvider	getAngleMode()	EV3 Gyro sensor, Angle mode Measures the orientation of the sensor 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 sensor and reset off accumulated angle to zero.

Methods inherited from class lejos.hardware.sensor.UARTSensor

switchMode

Methods inherited from class lejos.hardware.sensor.BaseSensor

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

Methods inherited from class lejos.hardware.Device

close, releaseOnClose

Methods inherited from class java.lang.Object

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

Constructor Detail

EV3GyroSensor

public EV3GyroSensor(Port port)

EV3GyroSensor

public EV3GyroSensor(UARTPort port)

Method Detail

getAngleMode

public SampleProvider getAngleMode()

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

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

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

Returns:

A sampleProvider See leJOS conventions for SampleProviders

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

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 sensor and reset off accumulated angle to zero.
The sensor should be motionless during calibration.