HiTechnicNxtGyroSensor (Hardware 7.1.0 API)

java.lang.Object
- LegacyModulePortDeviceImpl
- - com.qualcomm.hardware.hitechnic.HiTechnicNxtGyroSensor

```
public class HiTechnicNxtGyroSensor
extends LegacyModulePortDeviceImpl
```
HiTechnicNxtGyroSensor supports the legacy HiTechnic gyro sensor. This sensor is an analog sensor that must be connected using a Core Legacy Module.
"The NXT Gyro Sensor contains a single axis gyroscopic sensor that detects rotation and returns a value representing the number of degrees per second of rotation. The Gyro Sensor can measure up to +/- 360° per second of rotation."

"The rotation rate can be read up to approximately 300 times per second"

Note that the value coming out of the sensor is the rotation rate in the clockwise direction.

See Also:

HiTechnic Gyro Sensor

Field Summary

Fields
Modifier and Type	Field and Description
`protected double`	`biasVoltage` The voltage indicting zero angular rotation
`protected double`	`degreesPerSecondPerVolt` The conversion factor between voltage and angular rotation rate
`protected boolean`	`isCalibrating` whether or not the gyroscope is currently calibrating
`static java.lang.String`	`TAG`

Constructor Summary

Constructors
Constructor and Description

HiTechnicNxtGyroSensor(LegacyModule legacyModule, int physicalPort)

Constructors
Constructor and Description
`HiTechnicNxtGyroSensor(LegacyModule legacyModule, int physicalPort)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`calibrate()` Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using default calibration parameters.
`void`	`calibrate(int msCalibrationDuration, int msCalibrationInterval)` Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using specified calibration parameters
`void`	`calibrate(int msCalibrationDuration, int msCalibrationInterval, int msSettlingTime)` Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using specified calibration parameters
`void`	`close()`
`AngularVelocity`	`getAngularVelocity(AngleUnit unit)`
`java.util.Set<Axis>`	`getAngularVelocityAxes()`
`protected float`	`getAngularZVelocity(AngleUnit unit)`
`double`	`getBiasVoltage()`
`java.lang.String`	`getConnectionInfo()`
`double`	`getDefaultBiasVoltage()`
`double`	`getDefaultDegreesPerSecondPerVolt()`
`double`	`getDegreesPerSecondPerVolt()`
`java.lang.String`	`getDeviceName()`
`int`	`getHeading()` Method not supported by hardware.
`Manufacturer`	`getManufacturer()`
`double`	`getMaxVoltage()`
`double`	`getRotationFraction()`
`int`	`getVersion()`
`boolean`	`isCalibrating()` Returns whether or not the gyro is currently calibrating
`protected void`	`moduleNowArmedOrPretending()`
`protected void`	`notSupported()`
`int`	`rawX()` Method not supported by hardware.
`int`	`rawY()` Method not supported by hardware.
`int`	`rawZ()` Method not supported by hardware.
`double`	`readRawVoltage()`
`void`	`resetDeviceConfigurationForOpMode()`
`void`	`resetZAxisIntegrator()` Method not supported by hardware.
`void`	`setBiasVoltage(double biasVoltage)`
`void`	`setDegreesPerSecondPerVolt(double degreesPerSecondPerVolt)`
`protected void`	`sleep(int ms)`
`java.lang.String`	`status()`
`java.lang.String`	`toString()`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Field Detail
  - TAG
```
public static final java.lang.String TAG
```
    See Also:
    
    Constant Field Values
  - biasVoltage
```
protected double biasVoltage
```
    The voltage indicting zero angular rotation
  - degreesPerSecondPerVolt
```
protected double degreesPerSecondPerVolt
```
    The conversion factor between voltage and angular rotation rate
  - isCalibrating
```
protected boolean isCalibrating
```
    whether or not the gyroscope is currently calibrating
- Constructor Detail
  - HiTechnicNxtGyroSensor
```
public HiTechnicNxtGyroSensor(LegacyModule legacyModule,
                              int physicalPort)
```
- Method Detail
  - moduleNowArmedOrPretending
```
protected void moduleNowArmedOrPretending()
```
  - getBiasVoltage
```
public double getBiasVoltage()
```
  - setBiasVoltage
```
public void setBiasVoltage(double biasVoltage)
```
  - getDegreesPerSecondPerVolt
```
public double getDegreesPerSecondPerVolt()
```
  - setDegreesPerSecondPerVolt
```
public void setDegreesPerSecondPerVolt(double degreesPerSecondPerVolt)
```
  - getDefaultDegreesPerSecondPerVolt
```
public double getDefaultDegreesPerSecondPerVolt()
```
  - getDefaultBiasVoltage
```
public double getDefaultBiasVoltage()
```
  - getAngularVelocityAxes
```
public java.util.Set<Axis> getAngularVelocityAxes()
```
  - getAngularVelocity
```
public AngularVelocity getAngularVelocity(AngleUnit unit)
```
  - getAngularZVelocity
```
protected float getAngularZVelocity(AngleUnit unit)
```
  - toString
```
public java.lang.String toString()
```
  - calibrate
```
public void calibrate()
```
    Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using default calibration parameters.
  - calibrate
```
public void calibrate(int msCalibrationDuration,
                      int msCalibrationInterval)
```
    Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using specified calibration parameters
    
    Parameters:
    
    msCalibrationDuration - the amount of time to spend on calibration
    
    msCalibrationInterval - the interval, in ms, to pause between each
  - calibrate
```
public void calibrate(int msCalibrationDuration,
                      int msCalibrationInterval,
                      int msSettlingTime)
```
    Calibrates the HiTechnic gyroscope attempting to establish a reasonable value for its internal bias using specified calibration parameters
    
    Parameters:
    
    msCalibrationDuration - the amount of time to spend on calibration
    
    msCalibrationInterval - the interval, in ms, to pause between each
    
    msSettlingTime - the initial duration, in ms, to allow the gyro to settle
  - sleep
```
protected void sleep(int ms)
```
  - isCalibrating
```
public boolean isCalibrating()
```
    Returns whether or not the gyro is currently calibrating
    
    Returns:
    
    whether or not the gyro is currently calibrating
  - getRotationFraction
```
public double getRotationFraction()
```
  - readRawVoltage
```
public double readRawVoltage()
```
  - getMaxVoltage
```
public double getMaxVoltage()
```
  - getHeading
```
public int getHeading()
```
    Method not supported by hardware.
    
    Returns:
    
    nothing
    
    Throws:
    
    java.lang.UnsupportedOperationException
  - rawX
```
public int rawX()
```
    Method not supported by hardware.
    
    Returns:
    
    nothing
    
    Throws:
    
    java.lang.UnsupportedOperationException
  - rawY
```
public int rawY()
```
    Method not supported by hardware.
    
    Returns:
    
    nothing
    
    Throws:
    
    java.lang.UnsupportedOperationException
  - rawZ
```
public int rawZ()
```
    Method not supported by hardware.
    
    Returns:
    
    nothing
    
    Throws:
    
    java.lang.UnsupportedOperationException
  - resetZAxisIntegrator
```
public void resetZAxisIntegrator()
```
    Method not supported by hardware.
    
    Throws:
    
    java.lang.UnsupportedOperationException
  - status
```
public java.lang.String status()
```
  - getManufacturer
```
public Manufacturer getManufacturer()
```
  - getDeviceName
```
public java.lang.String getDeviceName()
```
  - getConnectionInfo
```
public java.lang.String getConnectionInfo()
```
  - getVersion
```
public int getVersion()
```
  - resetDeviceConfigurationForOpMode
```
public void resetDeviceConfigurationForOpMode()
```
  - close
```
public void close()
```
  - notSupported
```
protected void notSupported()
```

Class HiTechnicNxtGyroSensor

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

TAG

biasVoltage

degreesPerSecondPerVolt

isCalibrating

Constructor Detail

HiTechnicNxtGyroSensor

Method Detail

moduleNowArmedOrPretending

getBiasVoltage

setBiasVoltage

getDegreesPerSecondPerVolt

setDegreesPerSecondPerVolt

getDefaultDegreesPerSecondPerVolt

getDefaultBiasVoltage

getAngularVelocityAxes

getAngularVelocity

getAngularZVelocity

toString

calibrate

calibrate

calibrate

sleep

isCalibrating

getRotationFraction

readRawVoltage

getMaxVoltage

getHeading

rawX

rawY

rawZ

resetZAxisIntegrator

status

getManufacturer

getDeviceName

getConnectionInfo

getVersion

resetDeviceConfigurationForOpMode

close

notSupported