Struct GyroController 

pub struct GyroController<'a> { /* private fields */ }

A structure that can get the average reading from multiple gyro sensors in a single command.

This is also how you allow a DriveBase to use your gyro sensor(s)

Examples

use ev3dev_rs::robotics::GyroController;
use ev3dev_rs::pupdevices::GyroSensor;
use ev3dev_rs::parameters::SensorPort;

let gyro1 = GyroSensor::new(SensorPort::In1)?;
let gyro2 = GyroSensor::new(SensorPort::In2)?;

let controller = GyroController::new(vec![gyro1, gyro2])?;

let heading = controller.heading()?;
let angular_velocity = controller.angular_velocity()?;

println!("Heading: {}", heading);
println!("Angular Velocity: {}", angular_velocity);

Implementations

impl<'a> GyroController<'a>

pub fn new(gyros: Vec<&'a GyroSensor>) -> Ev3Result<Self>

Create a new GyroController with the given gyro sensors.

Examples

use ev3dev_rs::pupdevices::GyroSensor;
use ev3dev_rs::robotics::GyroController;

let left_gyro = GyroSensor::new(SensorPort::In1)?;
let right_gyro = GyroSensor::new(SensorPort::In4)?;

let controller = GyroController::new(vec![gyro1, gyro2])?;

pub fn heading(&self) -> Ev3Result<I32F32>

Gets the average heading of all contained gyros.

pub fn angular_velocity(&self) -> Ev3Result<I32F32>

Gets the average angular velocity of all contained gyros.

pub fn reset(&self) -> Ev3Result<()>

Resets the heading of the controller to zero.