Use the inertial class to control the inertial sensor. More...

Inherits vex::device, and vex::guido.

Classes
class	accel
	class to hold inertial sensor acceleration data More...

class	attitude
	class to hold inertial angle data More...

class	gyro
	recover inertial sensor temperature in deg C More...

class	matrix
	class to hold an inertial matrix More...

class	quaternion
	class to hold inertial quaternion data More...

Public Member Functions
	inertial (int32_t index)
	Creates a new inertial object on the port specified. More...

	~inertial ()

bool	installed ()

int32_t	value ()

void	startCalibration (int32_t value=0)
	Starts recalibration of the inertial sensor. More...

bool	isCalibrating (void)
	Returns true while the inertial sensor is performing a requested recalibration, changing to false once recalibration has completed. More...

void	resetHeading ()
	reset the heading of the sensor to 0 More...

void	resetRotation ()
	reset the rotation angle of the sensor to 0 More...

void	setHeading (double value, rotationUnits units)
	set the inertial sensor heading to a new value More...

void	setRotation (double value, rotationUnits units)
	set the inertial sensor rotation to angle More...

double	angle (rotationUnits units=rotationUnits::deg)
	Gets the angle (yaw angle) of the inertial sensor. More...

double	roll (rotationUnits units=rotationUnits::deg)
	Gets the roll angle of the inertial sensor. More...

double	pitch (rotationUnits units=rotationUnits::deg)
	Gets the pitch angle of the inertial sensor. More...

double	yaw (rotationUnits units=rotationUnits::deg)
	Gets the yaw angle of the inertial sensor. More...

double	orientation (orientationType axis, rotationUnits units)
	Gets an orientation angle of the inertial sensor. More...

double	heading (rotationUnits units=rotationUnits::deg)
	Gets the heading (yaw angle as 0-360 deg) of the inertial sensor. More...

double	rotation (rotationUnits units=rotationUnits::deg)
	Gets the absolute angle (yaw angle without limits) of the inertial sensor. More...

void	orientation (quaternion &q)
	Gets the inertial sensor orientation in quaternion form. More...

quaternion	orientation ()
	Gets the inertial sensor orientation in quaternion form. More...

void	orientation (attitude &a)
	Gets the inertial sensor orientation in rotation form. More...

double	gyroRate (axisType axis, velocityUnits units)
	Gets the inertial sensor raw gyro data in specified units. More...

double	acceleration (axisType axis)
	Gets the inertial sensor raw acceleration data in G. More...

Public Member Functions inherited from vex::device
	device ()

	device (int32_t index)

	~device ()

V5_DeviceType	type ()

void	init (int32_t index)

Public Member Functions inherited from vex::guido
virtual	~guido ()

Protected Types
enum	orientationMode { orientationMode::ZUp, orientationMode::ZDown, orientationMode::XUp, orientationMode::XDown, orientationMode::YUp, orientationMode::YDown, orientationMode::Auto }

Protected Member Functions
int32_t	status ()
	recover inertial sensor raw status More...

inertial::gyro	gyroRate ()
	Gets the inertial sensor raw gyro data in dps. More...

inertial::accel	acceleration ()
	Gets the inertial sensor raw acceleration data in G. More...

void	setOrientation (inertial::orientationMode orientation)
	Set the physical orientation of the inertial sensor, this will cause recalibration. More...

void	setAccelerometerRange (uint8_t value)

void	setCollisionThreshold (double value)

Additional Inherited Members
Protected Attributes inherited from vex::device
int32_t	_index

Detailed Description

Use the inertial class to control the inertial sensor.

Member Enumeration Documentation

◆ orientationMode

enum vex::inertial::orientationMode

strongprotected

Enumerator
ZUp
ZDown
XUp
XDown
YUp
YDown
Auto

Constructor & Destructor Documentation

◆ inertial()

vex::inertial::inertial ( int32_t index )

Creates a new inertial object on the port specified.

Parameters

index The port index for this inertial. The index is zero-based.

◆ ~inertial()

vex::inertial::~inertial ( )

Member Function Documentation

◆ installed()

bool vex::inertial::installed ( )

virtual

Reimplemented from vex::device.

◆ value()

int32_t vex::inertial::value ( )

virtual

Reimplemented from vex::device.

◆ startCalibration()

void vex::inertial::startCalibration ( int32_t value = 0 )

Starts recalibration of the inertial sensor.

◆ isCalibrating()

bool vex::inertial::isCalibrating ( void )

virtual

Returns true while the inertial sensor is performing a requested recalibration, changing to false once recalibration has completed.

Returns: Returns true if inertial sensor is still calibrating.

Implements vex::guido.

◆ resetHeading()

void vex::inertial::resetHeading ( )

reset the heading of the sensor to 0

◆ resetRotation()

void vex::inertial::resetRotation ( )

reset the rotation angle of the sensor to 0

◆ setHeading()

void vex::inertial::setHeading	(	double	value,
		rotationUnits	units
	)

virtual

set the inertial sensor heading to a new value

Parameters

value	The new heading for the inertial sensor
units	The rotation unit for the angle

Implements vex::guido.

◆ setRotation()

void vex::inertial::setRotation	(	double	value,
		rotationUnits	units
	)

virtual

set the inertial sensor rotation to angle

Parameters

value	The new absolute rotation angle for the inertial sensor
units	The rotation unit for the angle

Implements vex::guido.

◆ angle()

double vex::inertial::angle ( rotationUnits units = rotationUnits::deg )

Gets the angle (yaw angle) of the inertial sensor.

Returns: Returns a double that represents the unit value specified by the parameter of the inertial sensor.

Parameters

units The measurement unit for the inertial device.

◆ roll()

double vex::inertial::roll ( rotationUnits units = rotationUnits::deg )

Gets the roll angle of the inertial sensor.

Returns: Returns a double that represents the unit value specified by the parameter of the inertial sensor.

Parameters

units The measurement unit for the inertial sensor.

◆ pitch()

double vex::inertial::pitch ( rotationUnits units = rotationUnits::deg )

Gets the pitch angle of the inertial sensor.

Returns: Returns a double that represents the unit value specified by the parameter of the inertial sensor.

Parameters

units The measurement unit for the inertial device.

◆ yaw()

double vex::inertial::yaw ( rotationUnits units = rotationUnits::deg )

Gets the yaw angle of the inertial sensor.

Returns: Returns a double that represents the unit value specified by the parameter of the inertial sensor.

Parameters

units The measurement unit for the inertial sensor.

◆ orientation() [1/4]

double vex::inertial::orientation	(	orientationType	axis,
		rotationUnits	units
	)

Gets an orientation angle of the inertial sensor.

Returns: Returns a double that represents the unit value specified by the parameter of the inertial sensor.

Parameters

axis	The orientation axis to recover, roll, pitch or yaw.
units	The measurement unit for the inertial sensor.

◆ heading()

double vex::inertial::heading ( rotationUnits units = rotationUnits::deg )

virtual

Gets the heading (yaw angle as 0-360 deg) of the inertial sensor.

Returns: Returns a double that represents the unit value specified by the parameter of the inertial sensor.

Parameters

units The measurement unit for the inertial sensor.

Implements vex::guido.

◆ rotation()

double vex::inertial::rotation ( rotationUnits units = rotationUnits::deg )

virtual

Gets the absolute angle (yaw angle without limits) of the inertial sensor.

Returns: Returns a double that represents the unit value specified by the parameter of the inertial sensor.

Parameters

units The measurement unit for the inertial sensor.

Implements vex::guido.

◆ orientation() [2/4]

void vex::inertial::orientation ( quaternion & q )

Gets the inertial sensor orientation in quaternion form.

Parameters

q	reference to instance of a inertial::quaternion class

◆ orientation() [3/4]

quaternion vex::inertial::orientation ( )

Gets the inertial sensor orientation in quaternion form.

Returns: inertial::quaternion object

◆ orientation() [4/4]

void vex::inertial::orientation ( attitude & a )

Gets the inertial sensor orientation in rotation form.

Parameters

a	reference to instance of a inertial::attitude class

◆ gyroRate() [1/2]

double vex::inertial::gyroRate	(	axisType	axis,
		velocityUnits	units
	)

Gets the inertial sensor raw gyro data in specified units.

Parameters

axis	the inertial sensor axis to use
units	The units return value

Returns: value of the specified inertial sensor axis

◆ acceleration() [1/2]

double vex::inertial::acceleration ( axisType axis )

Gets the inertial sensor raw acceleration data in G.

Parameters

axis	the inertial sensor axis to use

Returns: value of the specified inertial sensor axis

◆ status()

int32_t vex::inertial::status ( )

protected

recover inertial sensor raw status

◆ gyroRate() [2/2]

inertial::gyro vex::inertial::gyroRate ( )

protected

Gets the inertial sensor raw gyro data in dps.

Returns: inertial::gyro object

◆ acceleration() [2/2]

inertial::accel vex::inertial::acceleration ( )

protected

Gets the inertial sensor raw acceleration data in G.

Returns: inertial::accel object

◆ setOrientation()

void vex::inertial::setOrientation ( inertial::orientationMode orientation )

protected

Set the physical orientation of the inertial sensor, this will cause recalibration.

Parameters

orientation the inertial sensor orientation

◆ setAccelerometerRange()

void vex::inertial::setAccelerometerRange ( uint8_t value )

protected

◆ setCollisionThreshold()

void vex::inertial::setCollisionThreshold ( double value )

protected

Classes

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ orientationMode

Constructor & Destructor Documentation

◆ inertial()

◆ ~inertial()

Member Function Documentation

◆ installed()

◆ value()

◆ startCalibration()

◆ isCalibrating()

◆ resetHeading()

◆ resetRotation()

◆ setHeading()

◆ setRotation()

◆ angle()

◆ roll()

◆ pitch()

◆ yaw()

◆ orientation() [1/4]

◆ heading()

◆ rotation()

◆ orientation() [2/4]

◆ orientation() [3/4]

◆ orientation() [4/4]

◆ gyroRate() [1/2]

◆ acceleration() [1/2]

◆ status()

◆ gyroRate() [2/2]

◆ acceleration() [2/2]

◆ setOrientation()

◆ setAccelerometerRange()

◆ setCollisionThreshold()