vex.Inertial Class Reference

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

Inherits vex.Device.

Public Member Functions
def	__init__ (self, index)
	Creates a new inertial object on the port specified. More...
def	start_calibration (self)
	Starts recalibration of the inertial sensor. More...
def	is_calibrating (self)
	Returns True while the inertial sensor is performing a requested recalibration, changing to false once recalibration has completed. More...
def	calibrate (self)
	Recalibration of the inertial sensor. More...
def	reset_heading (self)
	Reset the heading of the sensor to 0. More...
def	reset_rotation (self)
	Reset the rotation angle of the sensor to 0. More...
def	set_heading (self, value, rotationUnits=RotationUnits.DEG)
	brief Set the inertial sensor heading to a new value More...
def	set_rotation (self, value, rotationUnits=RotationUnits.DEG)
def	angle (self, rotationUnits=RotationUnits.DEG)
	Gets the angle (yaw angle) of the inertial sensor. More...
def	roll (self, rotationUnits=RotationUnits.DEG)
	Gets the roll angle of the inertial sensor. More...
def	pitch (self, rotationUnits=RotationUnits.DEG)
	Gets the pitch angle of the inertial sensor. More...
def	yaw (self, rotationUnits=RotationUnits.DEG)
	Gets the yaw angle of the inertial sensor. More...
def	orientation (self, orientationType, rotationUnits=RotationUnits.DEG)
	Gets an orientation angle of the inertial sensor. More...
def	heading (self, rotationUnits=RotationUnits.DEG)
	Gets the heading (yaw angle as 0-360 deg) of the inertial sensor. More...
def	rotation (self, rotationUnits=RotationUnits.DEG)
	Gets the absolute angle (yaw angle without limits) of the inertial sensor. More...
def	gyro_rate (self, axisType, velocityUnits=VelocityUnits.RPM)
	Gets the inertial sensor raw gyro data in specified units. More...
def	acceleration (self, axisType)
	Gets the inertial sensor raw acceleration data in G. More...
def	type (self)
	Get the device type. More...
def	installed (self)
	Gets the status of what is installed. More...
def	value (self)

Detailed Description

Use the inertial class to control the inertial sensor.

Constructor & Destructor Documentation

__init__()

def vex.Inertial.__init__	(		self,
			index
	)

Creates a new inertial object on the port specified.

Parameters

index

The port index for this motor. The index is zero based.

Reimplemented from vex.Device.

Member Function Documentation

start_calibration()

def vex.Inertial.start_calibration

(

self

)

Starts recalibration of the inertial sensor.

is_calibrating()

def vex.Inertial.is_calibrating

(

self

)

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

Returns

True if inertial sensor is still calibrating.

calibrate()

def vex.Inertial.calibrate

(

self

)

Recalibration of the inertial sensor.

Blocks until calibration is complete.

reset_heading()

def vex.Inertial.reset_heading

(

self

)

Reset the heading of the sensor to 0.

reset_rotation()

def vex.Inertial.reset_rotation

(

self

)

Reset the rotation angle of the sensor to 0.

set_heading()

def vex.Inertial.set_heading	(		self,
			value,
			rotationUnits = RotationUnits.DEG
	)

brief Set the inertial sensor heading to a new value

Parameters

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

set_rotation()

def vex.Inertial.set_rotation	(		self,
			value,
			rotationUnits = RotationUnits.DEG
	)

angle()

def vex.Inertial.angle	(		self,
			rotationUnits = RotationUnits.DEG
	)

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

Returns

value (float number) specified by the unit.

Parameters

rotationUnits

The measurement unit for the inertial device.

roll()

def vex.Inertial.roll	(		self,
			rotationUnits = RotationUnits.DEG
	)

Gets the roll angle of the inertial sensor.

Returns

value (float number) specified by the unit.

Parameters

rotationUnits

the measurement unit for the inertial sensor.

pitch()

def vex.Inertial.pitch	(		self,
			rotationUnits = RotationUnits.DEG
	)

Gets the pitch angle of the inertial sensor.

Returns

value (float number) specified by the unit.

Parameters

rotationUnits

The measurement unit for the inertial device.

yaw()

def vex.Inertial.yaw	(		self,
			rotationUnits = RotationUnits.DEG
	)

Gets the yaw angle of the inertial sensor.

Returns

value (float number) specified by the unit.

Parameters

rotationUnits

The measurement unit for the inertial sensor.

orientation()

def vex.Inertial.orientation	(		self,
			orientationType,
			rotationUnits = RotationUnits.DEG
	)

Gets an orientation angle of the inertial sensor.

Returns

value (float number) specified by the unit.

Parameters

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

heading()

def vex.Inertial.heading	(		self,
			rotationUnits = RotationUnits.DEG
	)

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

Returns

value (float number) specified by the unit.

Parameters

rotationUnits

The measurement unit for the inertial sensor.

rotation()

def vex.Inertial.rotation	(		self,
			rotationUnits = RotationUnits.DEG
	)

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

Returns

value (float number) specified by the unit.

Parameters

rotationUnits

The measurement unit for the inertial sensor.

gyro_rate()

def vex.Inertial.gyro_rate	(		self,
			axisType,
			velocityUnits = VelocityUnits.RPM
	)

Gets the inertial sensor raw gyro data in specified units.

Parameters

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

Returns

value of the specified inertial sensor axis

acceleration()

def vex.Inertial.acceleration	(		self,
			axisType
	)

Gets the inertial sensor raw acceleration data in G.

Parameters

axisType

the inertial sensor axis to use

Returns

value of the specified inertial sensor axis

type()

def vex.Device.type (   self )

inherited

Get the device type.

Returns

V5DeviceType enum value

installed()

def vex.Device.installed (   self )

inherited

Gets the status of what is installed.

Returns

Returns a true Boolean if the triport is installed. Returns a false Boolean if the triport is not installed.

value()

def vex.Device.value (   self )

inherited