wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/interfaces/Gyro.html
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<div class="subTitle">edu.wpi.first.wpilibj.interfaces</div>
<h2 title="Interface Gyro" class="title">Interface Gyro</h2>
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<dt>All Known Implementing Classes:</dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/ADXRS450_Gyro.html" title="class in edu.wpi.first.wpilibj">ADXRS450_Gyro</a>, <a href="../../../../../edu/wpi/first/wpilibj/AnalogGyro.html" title="class in edu.wpi.first.wpilibj">AnalogGyro</a>, <a href="../../../../../edu/wpi/first/wpilibj/GyroBase.html" title="class in edu.wpi.first.wpilibj">GyroBase</a></dd>
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<pre>public interface <span class="typeNameLabel">Gyro</span></pre>
<div class="block">Interface for yaw rate gyros.</div>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/interfaces/Gyro.html#calibrate--">calibrate</a></span>()</code>
<div class="block">Calibrate the gyro by running for a number of samples and computing the center value.</div>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/interfaces/Gyro.html#free--">free</a></span>()</code>
<div class="block">Free the resources used by the gyro.</div>
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<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/interfaces/Gyro.html#getAngle--">getAngle</a></span>()</code>
<div class="block">Return the actual angle in degrees that the robot is currently facing.</div>
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<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/interfaces/Gyro.html#getRate--">getRate</a></span>()</code>
<div class="block">Return the rate of rotation of the gyro.</div>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/interfaces/Gyro.html#reset--">reset</a></span>()</code>
<div class="block">Reset the gyro.</div>
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<h4>calibrate</h4>
<pre>void calibrate()</pre>
<div class="block">Calibrate the gyro by running for a number of samples and computing the center value. Then use
the center value as the Accumulator center value for subsequent measurements. It's important to
make sure that the robot is not moving while the centering calculations are in progress, this
is typically done when the robot is first turned on while it's sitting at rest before the
competition starts.</div>
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<h4>reset</h4>
<pre>void reset()</pre>
<div class="block">Reset the gyro. Resets the gyro to a heading of zero. This can be used if there is significant
drift in the gyro and it needs to be recalibrated after it has been running.</div>
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<h4>getAngle</h4>
<pre>double getAngle()</pre>
<div class="block">Return the actual angle in degrees that the robot is currently facing.
<p>The angle is based on the current accumulator value corrected by the oversampling rate, the
gyro type and the A/D calibration values. The angle is continuous, that is it will continue
from 360 to 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in
the gyro output as it sweeps past from 360 to 0 on the second time around.
<p>This heading is based on integration of the returned rate from the gyro.</div>
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<dt><span class="returnLabel">Returns:</span></dt>
<dd>the current heading of the robot in degrees.</dd>
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<h4>getRate</h4>
<pre>double getRate()</pre>
<div class="block">Return the rate of rotation of the gyro.
<p>The rate is based on the most recent reading of the gyro analog value</div>
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<dt><span class="returnLabel">Returns:</span></dt>
<dd>the current rate in degrees per second</dd>
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<h4>free</h4>
<pre>void free()</pre>
<div class="block">Free the resources used by the gyro.</div>
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