lejos.hardware.sensor

Class CruizcoreGyro

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.sensor.CruizcoreGyro

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, SensorConstants, SensorMode, SensorModes, SampleProvider

public class CruizcoreGyro
extends I2CSensor

Micro Infinity Cruizcore XG1300L
The XG1300L is a fully self-contained digital MEMS gyroscope and accelerometer.

The code for this sensor has not been tested. Please report test results to the leJOS forum.

Rate Angle

Supported modes
Mode name	Description	unit(s)	Getter
Acceleration	Measures linear acceleration over three axes		getAccelerationMode()
Rate	Measures rate of turn over the Z-axis		getRateMode()
	Measures angle over the Z-axis		getAngleMode()

See Sensor datasheet See Sensor Product page See The leJOS sensor framework See leJOS conventions for SampleProviders

Author:

Daniele Benedettelli

Field Summary

Fields inherited from class lejos.hardware.sensor.I2CSensor

address, DEFAULT_I2C_ADDRESS, port, REG_PRODUCT_ID, REG_VENDOR_ID, REG_VERSION, retryCount

Fields inherited from class lejos.hardware.sensor.BaseSensor

currentMode, modes

Fields inherited from class lejos.hardware.Device

closeList

Fields inherited from interface lejos.hardware.sensor.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, BROWN, GREEN, GREEN_INDEX, MAX_TYPE, MIN_TYPE, MODE_RAW, NXT_ADC_RES, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HIGHSPEED, TYPE_HIGHSPEED_9V, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE, WHITE, YELLOW

Constructor Summary

Constructors

Constructor and Description
CruizcoreGyro(I2CPort port) Instantiates a new Cruizcore Gyro sensor.
CruizcoreGyro(Port port)

Method Summary

Modifier and Type	Method and Description
SensorMode	getAccelerationMode() Cruizcore XG1300L, Acceleration mode Measures linear acceleration over three axes
SensorMode	getAngleMode() Cruizcore XG1300L, Angle mode Measures angle over the Z-axis
SensorMode	getRateMode() Cruizcore XG1300L, Acceleration mode Measures rate of turn over the Z-axis
protected void	init()
void	reset() Resets the accumulated angle (heading).
void	setAccScale(int sf) Sets the acc scale.
void	setAccScale2G() Sets the acceleration scale factor to 2G.
void	setAccScale4G() Sets the acceleration scale factor to 4G.
void	setAccScale8G() Sets the acceleration scale factor to 8G.

Methods inherited from class lejos.hardware.sensor.I2CSensor

fetchString, getAddress, getData, getData, getPort, getProductID, getRetryCount, getVendorID, getVersion, sendData, sendData, sendData, setAddress, setRetryCount

Methods inherited from class lejos.hardware.sensor.BaseSensor

fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, getName, sampleSize, setCurrentMode, setCurrentMode, setModes

Methods inherited from class lejos.hardware.Device

close, releaseOnClose

Methods inherited from class java.lang.Object

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

Constructor Detail

CruizcoreGyro

public CruizcoreGyro(I2CPort port)

Instantiates a new Cruizcore Gyro sensor.

Parameters:

port - the port the sensor is attached to

CruizcoreGyro

public CruizcoreGyro(Port port)

Method Detail

init

protected void init()

setAccScale

public void setAccScale(int sf)

Sets the acc scale.

Parameters:

sf - the scale factor: 0 for +/- 2G, 1 for +/- 4G, 2 for +/- 8g

Throws:

java.lang.IllegalArgumentException - if the parameter is neither 0, 1, or 2.

setAccScale2G

public void setAccScale2G()

Sets the acceleration scale factor to 2G.

setAccScale4G

public void setAccScale4G()

Sets the acceleration scale factor to 4G.

setAccScale8G

public void setAccScale8G()

Sets the acceleration scale factor to 8G.

reset

public void reset()

Resets the accumulated angle (heading).

getAccelerationMode

public SensorMode getAccelerationMode()

Cruizcore XG1300L, Acceleration mode
Measures linear acceleration over three axes

Size and content of the sample
The sample contains 3 elements. Each element gives linear acceleration (in metres/second^2). Axis order in sample is X, Y, Z.

Configuration
The sensor can be configured for range using the setAccScale#G() methods of the sensor class.

Returns:

A sampleProvider See leJOS conventions for SampleProviders See Sensor datasheet

getRateMode

public SensorMode getRateMode()

Cruizcore XG1300L, Acceleration mode
Measures rate of turn over the Z-axis

Size and content of the sample
The sample contains one element, the rate of turn (in degrees / second) over the Z-axis.

Configuration
There are no configurable parameters.

Returns:

A sampleProvider See leJOS conventions for SampleProviders See Sensor datasheet

getAngleMode

public SensorMode getAngleMode()

Cruizcore XG1300L, Angle mode
Measures angle over the Z-axis

Size and content of the sample
The sample contains one element, the accumulated angle (in degrees). .

Configuration
The accumulated angle can be reset to zero using the reset() method of the sensor class.

Returns:

A sampleProvider See leJOS conventions for SampleProviders See Sensor datasheet