orc
Class Gyro

java.lang.Object
  orc.Gyro

public class Gyro
extends java.lang.Object

An analog rate gyro can be connected to one of the first 3 external ADC ports. The uOrc hardware includes special integrator firmware; this provides an interface to that logic.

Constructor Summary

Gyro(Orc orc, int port)
Create a gyro with 0.005 V/(deg/S) sensitivity

Gyro(Orc orc, int port, double voltsPerDegPerSec)

Method Summary

void	calibrate(double seconds) Calibrate the gyro while the gyro remains motionless.
double	getTheta()
static void	main(java.lang.String[] args)
void	reset() Reset the gyro position to zero.

Methods inherited from class java.lang.Object

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

Constructor Detail

Gyro

public Gyro(Orc orc,
            int port)

Create a gyro with 0.005 V/(deg/S) sensitivity

Gyro

public Gyro(Orc orc,
            int port,
            double voltsPerDegPerSec)

Method Detail

reset

public void reset()

Reset the gyro position to zero.

getTheta

public double getTheta()

calibrate

public void calibrate(double seconds)

Calibrate the gyro while the gyro remains motionless. This calibration will only measure the offset error, it can not measure scale error. Also, the gyro theta is not reset: you may wish to call reset() after calibration.

main

public static void main(java.lang.String[] args)