陀螺仪-硬件

备注

This section covers gyro hardware. For a software guide to gyros, see Gyroscopes - Software.

陀螺仪（简称“陀螺仪”）是测量旋转速率的设备。这些对于稳定机器人驱动或通过总和（累加）速率测量以获得总角位移的测量来测量航向或倾斜特别有用。

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:

陀螺仪的种类

FRC中通常使用两种类型的陀螺仪：单轴陀螺仪，三轴陀螺仪和IMU，这通常包括3轴陀螺仪。

单轴陀螺仪

The Analog Devices 1-axis Gyro plugged into the SPI port of the roboRIO.

As per their name, single-axis gyros measure rotation rate around a single axis. This axis is generally specified on the physical device, and mounting the device in the proper orientation so that the desired axis is measured is highly important. Some single-axis gyros can output an analog voltage corresponding to the measured rate of rotation, and so connect to the roboRIO’s analog input ports. Other single-axis gyros, such as the ADXRS450 pictured above, use the SPI port on the roboRIO instead.

The Analog Devices ADXRS450 FRC Gyro Board that has been in FIRST Choice in recent years is a commonly used single axis gyro.

三轴陀螺仪

This is the ADIS16470 :term:`IMU` plugged in to the SPI port.

三轴陀螺仪测量围绕所有三个空间轴（通常标记为x，y和z）的旋转速率。围绕这些轴的运动称为俯仰，偏航和横滚。

The Analog Devices ADIS16470 IMU Board for FIRST Robotics that has been in FIRST Choice in recent years is a commonly used three-axis gyro.

The 3 axis: yaw, pitch, and roll and how they relate to robot movement.

备注

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.

外围三轴陀螺仪可以简单地输出三个模拟电压（并因此连接到 analog input ports，或（更常见的）它们可以与roboRIO的 :doc:`serial buses <serial-buses>`中的一种通信。