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gyro calibration done right (#186)

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This commit is contained in:
Peli de Halleux
2018-01-04 23:21:19 -08:00
committed by GitHub
parent de91dc6ab7
commit a9be582f90
4 changed files with 53 additions and 7 deletions
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50
libs/gyro-sensor/gyro.ts
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@ -7,8 +7,10 @@ const enum GyroSensorMode {
namespace sensors {
//% fixedInstances
export class GyroSensor extends internal.UartSensor {
private calibrating: boolean;
constructor(port: number) {
super(port)
this.calibrating = false;
}
_deviceType() {
@ -32,6 +34,9 @@ namespace sensors {
//% weight=65 blockGap=8
//% group="Gyro Sensor"
angle(): number {
if (this.calibrating)
pauseUntil(() => !this.calibrating, 2000);
this.setMode(GyroSensorMode.Angle)
return this.getNumber(NumberFormat.Int16LE, 0)
}
@ -40,7 +45,7 @@ namespace sensors {
* Get the current rotation rate from the gyroscope.
* @param sensor the gyroscope to query the request
*/
//% help=input/gyro/rate
//% help=input/gyro/rotation-rate
//% block="%sensor|rotation rate"
//% blockId=gyroGetRate
//% parts="gyroscope"
@ -48,18 +53,53 @@ namespace sensors {
//% sensor.fieldEditor="ports"
//% weight=65 blockGap=8
//% group="Gyro Sensor"
rate(): number {
rotationRate(): number {
if (this.calibrating)
pauseUntil(() => !this.calibrating, 2000);
this.setMode(GyroSensorMode.Rate)
return this.getNumber(NumberFormat.Int16LE, 0)
}
}
//% fixedInstance whenUsed block="gyro 1" jres=icons.port1
export const gyro1: GyroSensor = new GyroSensor(1)
/**
* Forces a calibration of the gyro. Must be called when the sensor is completely still.
*/
//% help=input/gyro/calibrate
//% block="%sensor|calibrate"
//% blockId=gyroCalibrate
//% parts="gyroscope"
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=65 blockGap=8
//% group="Gyro Sensor"
calibrate(): void {
if (this.calibrating) return; // already in calibration mode
this.calibrating = true;
// may be triggered by a button click, give time to settle
loops.pause(500);
// send a reset command
this.reset();
// we need to switch mode twice to perform a calibration
if (this.mode == GyroSensorMode.Rate)
this.setMode(GyroSensorMode.Angle);
else
this.setMode(GyroSensorMode.Rate);
// switch back and wait
if (this.mode == GyroSensorMode.Rate)
this.setMode(GyroSensorMode.Angle);
else
this.setMode(GyroSensorMode.Rate);
this.calibrating = false;
}
}
//% fixedInstance whenUsed block="gyro 2" weight=95 jres=icons.port2
export const gyro2: GyroSensor = new GyroSensor(2)
//% fixedInstance whenUsed block="gyro 1" jres=icons.port1
export const gyro1: GyroSensor = new GyroSensor(1)
//% fixedInstance whenUsed block="gyro 3" jres=icons.port3
export const gyro3: GyroSensor = new GyroSensor(3)