Giroscopio - Hardware¶
Nota
This section covers gyro hardware. For a software guide to gyros, see Giroscopios - Software.
Los giroscopios (o «gyros») son aparatos que miden la velocidad de rotación. Estos son particularmente útiles para estabilizar la conducción del robot, o para medir el camino o la inclinación mediante la integración (suma) de las medidas para obtener la medida del desplazamiento angular total.
Several popular FRC® devices known as IMUs (Inertial Measurement Units) combine 3-axis gyros, accelerometers, and other position sensors into one device. Some popular examples are:
The most common type of Gyros used in FRC are three-axis gyros, commonly included in IMUs.
Three-axis gyros measure rotation rate around all three spatial axes (typically labeled x, y, and z). The motion around these axis is called pitch, yaw, and roll.
Nota
The coordinate system shown above is often used for three axis gyros, as it is a convention in avionics. Note that other coordinate systems are used in mathematics and referenced throughout WPILib. Please refer to the Drive class axis diagram for axis referenced in software.
Peripheral three-axis gyros typically communicate over the CAN Bus to send data.