crust::Rotation Class Reference

#include <rotation.h>

Description

Class implementing the V5 Rotation Sensor.

Provides functions for getting angle (wrapped), position (continuous), and angular velocity. The sensor is able to be reversed, and its position can be set.

Inheritance diagram for crust::Rotation:

Public Member Functions
	Rotation (int port, bool reversed=false)
	Constructs a Rotation Sensor.
Rotation2d	angle () const
	Gets the shaft's absolute orientation within one revolution.
units::Angle	position () const
	Gets the shaft's accumulated rotation relative to the current zero point.
units::AngularVelocity	velocity () const
	Gets the shaft's angular velocity.
void	set_position (units::Angle position)
	Sets the accumulated position to a continuous units::Angle.
void	set_position (Rotation2d position)
	Sets the accumulated position to a wrapped Rotation2d.
void	reset_position ()
	Sets the accumulated position to zero.
void	set_reversed (bool reversed)
	Configures the direction reported.
bool	reversed () const
	Gets the sensor's reversal flag.
Public Member Functions inherited from crust::Device
int	port () const
	Gets the physical Smart Port number.
bool	installed () const
	Checks whether the expected device is currently connected.

Additional Inherited Members
Protected Member Functions inherited from crust::Device
	Device (int port, int expected_type)
	Resolves and caches the C SDK handle for a physical Smart Port.
	~Device ()=default
	Destroys the device.
_V5_Device *	handle () const
	Provides the device handle associated with this port.

Constructor & Destructor Documentation

Rotation()

crust::Rotation::Rotation ( int port, bool reversed = false )

explicit

Constructs a Rotation Sensor.

Parameters

port	Physical Smart Port number [1, 21].
reversed	True to reverse the reported direction.

Member Function Documentation

angle()

Rotation2d crust::Rotation::angle

(

)

const

Gets the shaft's absolute orientation within one revolution.

Returns

Wrapped orientation represented by a Rotation2d.

Note

set_position() does not affect this value! The offset for this function can be set manually in the brain's devices tab.

position()

units::Angle crust::Rotation::position

(

)

const

Gets the shaft's accumulated rotation relative to the current zero point.

Returns

Continuous units::Angle that can span multiple revolutions.

reset_position()

void crust::Rotation::reset_position

(

)

Sets the accumulated position to zero.

Note

Does not change the result of angle().

reversed()

bool crust::Rotation::reversed

(

)

const

Gets the sensor's reversal flag.

Returns

True if sensor is reversed.

set_position() [1/2]

void crust::Rotation::set_position

(

Rotation2d

position

)

Sets the accumulated position to a wrapped Rotation2d.

Parameters

position

value to set.

Note

Rounds to the nearest 0.01 degree, wraps a rounded full revolution to zero. Does not change the result of angle().

set_position() [2/2]

void crust::Rotation::set_position

(

units::Angle

position

)

Sets the accumulated position to a continuous units::Angle.

Parameters

position

value to set.

Note

Rounds to the nearest 0.01 degree for the C SDK. Does not change the result of angle().

set_reversed()

void crust::Rotation::set_reversed

(

bool

reversed

)

Configures the direction reported.

Parameters

reversed

True to reverse the sensor.

velocity()

units::AngularVelocity crust::Rotation::velocity

(

)

const

Gets the shaft's angular velocity.

Returns

units::AngularVelocity.

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The documentation for this class was generated from the following file:

• crust/devices/rotation.h