Package lejos.robotics

Class GyroscopeAdapter

java.lang.Object

lejos.robotics.GyroscopeAdapter

All Implemented Interfaces:

Gyroscope

public class GyroscopeAdapter
extends java.lang.Object
implements Gyroscope

Provides an adapter that implements the Gyroscope interface.
The gyroscope is sampled at a regular interval and its output is integrated into accumulated angle.

Author:

Aswin

Constructor Summary

Constructors

Constructor	Description
GyroscopeAdapter(SampleProvider source, float sampleFrequency)
GyroscopeAdapter(SampleProvider source, float sampleFrequency, int axisIndex)

Method Summary

Modifier and Type	Method	Description
int	getAngle()
float	getAngularVelocity()	Implementor must calculate and return the angular velocity in degrees per second.
void	recalibrateOffset()	Racalibrates the gyroscope for offset error.
void	reset()

Methods inherited from class java.lang.Object

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

Constructor Detail

GyroscopeAdapter

public GyroscopeAdapter(SampleProvider source,
                        float sampleFrequency,
                        int axisIndex)

Parameters:

source - A SampleProvider representing a gyroscope

sampleFrequency - The frequency used to sample the gyroscope

axisIndex - The axis to use (usefull with multiaxis gyroscopes

GyroscopeAdapter

public GyroscopeAdapter(SampleProvider source,
                        float sampleFrequency)

Parameters:

source - A SampleProvider representing a gyroscope

sampleFrequency - The frequency used to sample the gyroscope

Method Detail

getAngularVelocity

public float getAngularVelocity()

Description copied from interface: Gyroscope

Implementor must calculate and return the angular velocity in degrees per second.

Specified by:

getAngularVelocity in interface Gyroscope

Returns:

Angular velocity in degrees/second

recalibrateOffset

public void recalibrateOffset()

Racalibrates the gyroscope for offset error.
Calibration takes a second during which the gyroscope must remain motionless.

Specified by:

recalibrateOffset in interface Gyroscope

getAngle

public int getAngle()

Specified by:

getAngle in interface Gyroscope

reset

public void reset()

Specified by:

reset in interface Gyroscope