Quote:
Originally Posted by GeeTwo
gyroscopes don't give you an output of what direction you're heading, but what your rate of rotation is.
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True, but the WPILib Gyro class uses the FPGA to integrate the gyro's rate to give the robot's angular orientation... which is used by many teams for field-centric control and driving straight.
Code:
/**
* Use a rate gyro to return the robots heading relative to a starting position.
* The Gyro class tracks the robots heading based on the starting position. As
* the robot rotates the new heading is computed by integrating the rate of
* rotation returned by the sensor. When the class is instantiated, it does a
* short calibration routine where it samples the gyro while at rest to
* determine the default offset. This is subtracted from each sample to
* determine the heading.
*/