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11  </head><body><div class="content"><h1>CalibrateGyro</h1><!--introduction--><p>Calibrates the HiTechnic Gyro sensor (measures/sets an offset while in rest)</p><!--/introduction--><h2>Contents</h2><div><ul><li><a href="#2">Syntax</a></li><li><a href="#7">Description</a></li><li><a href="#18">Examples</a></li><li><a href="#22">See also</a></li><li><a href="#24">Signature</a></li></ul></div><h2>Syntax<a name="2"></a></h2><p><tt>offset = CalibrateGyro(port, 'AUTO')</tt></p><p><tt>offset = CalibrateGyro(port, 'AUTO', handle)</tt></p><p><tt>offset = CalibrateGyro(port, 'MANUAL', manualOffset)</tt></p><p><tt>offset = CalibrateGyro(port, 'MANUAL', manualOffset, handle)</tt></p><h2>Description<a name="7"></a></h2><p>In order to use the HiTechnic Gyro Sensor, it has first to be opened using <tt>OpenGyro</tt>. Then <tt>CalibrateGyro</tt> should be called (or a warning will be issued). Only after this you can safely use <tt>GetGyro</tt> to retrieve values.</p><p>This function will set (and return) the new offset (i.e. reading during reast) of the according Gyro sensor. Normally users should use the</p><p><b>automatic</b> calibration mode: <tt>offset = CalibrateGyro(port, 'AUTO')</tt></p><p>The offset will be calculated automatically. During this function the Gyro sensor value will be measured for at least 1 second (or for at least 5 times). During this period, the sensor must be at full rest!</p><p>If you want to save time during your program with a well-known Gyro sensor, or you cannot assure that the sensor is at rest during calibration, you can use the automatic calibration once in the command line and remember the determined offset value. Using manual calibration, you can then set a hardcoded value manually (saving you time and the calibration for this sensor in the future in that specific program).</p><p>Use <tt>CalibrateGyro(port, 'MANUAL', manualOffset)</tt> to achieve this, with a correct offset obtained from automatic calibration. This call won't require that the sensor doesn't move. Also the call is very fast (as compared to at least 1 second in automatic mode). Use integers for <tt>manualOffset</tt>, as the gyro sensor is only accurate to +/- 1 degree per second anyway.</p><p>The last optional argument (for both modes) can be a valid NXT handle. If none is specified, the default handle will be used (call <tt>COM_SetDefaultNXT</tt> to set one).</p><p><b>Note:</b></p><p>Manual calibration only works for one specific sensor (i.e. one unique piece of hardware). Other sensors might have different offsets. Also it could be possible that the offset changes over time or is dependent on your working environment (humidity, temperature, etc).</p><h2>Examples<a name="18"></a></h2><pre class="codeinput">   <span class="comment">% in this example the gyro is used with automatic</span>
12   <span class="comment">% calibration, very straight forward</span>
13
14   port = SENSOR_2;
15   OpenGyro(port);
16   CalibrateGyro(port, <span class="string">'AUTO'</span>);
17
18   <span class="comment">% now the gyro is ready to be used!</span>
19   <span class="comment">% do something, main program etc...</span>
20   speed = GetGyro(port);
21
22   <span class="comment">% do something else, loop etc...</span>
23   <span class="comment">% don't forget to clean up</span>
24   CloseSensor(port);
25</pre><pre class="codeinput">   <span class="comment">% in this example we save the time and effort of</span>
26   <span class="comment">% automatic calibration each time the main program is run...</span>
27   <span class="comment">% on a command window, type:</span>
28   h = COM_OpenNXT();
29   COM_SetDefaulNXT(h);
30   OpenGyro(SENSOR_1);
31   <span class="comment">% now, once the automatic calibration:</span>
32   offset = CalibrateGyro(SENSOR_1, <span class="string">'AUTO'</span>);
33   <span class="comment">% remember this value...</span>
34</pre><pre class="codeinput">   <span class="comment">% our main program looks like this:</span>
35   <span class="comment">% always open gyro first:</span>
36   OpenGyro(SENSOR_1);
37   <span class="comment">% now use the offset value determined earlier:</span>
38   CalibrateGyro(SENSOR_1, <span class="string">'MANUAL'</span>, offset);
39   <span class="comment">% ready to use GetGyro now...</span>
40</pre><h2>See also<a name="22"></a></h2><p>OpenGyro, GetGyro, CloseSensor, NXT_SetInputMode, NXT_GetInputValues</p><h2>Signature<a name="24"></a></h2><div><ul><li><b>Author:</b> Linus Atorf (see AUTHORS)</li><li><b>Date:</b> 2009/04/14</li><li><b>Copyright:</b> 2007-2009, RWTH Aachen University</li></ul></div><p class="footer"><br>
41</p></div><!--
42##### SOURCE BEGIN #####
43%% CalibrateGyro
44% Calibrates the HiTechnic Gyro sensor (measures/sets an offset while in rest)
45%%
46%% Syntax
47% |offset = CalibrateGyro(port, 'AUTO')|
48%%
49% |offset = CalibrateGyro(port, 'AUTO', handle)|
50%%
51% |offset = CalibrateGyro(port, 'MANUAL', manualOffset)|
52%%
53% |offset = CalibrateGyro(port, 'MANUAL', manualOffset, handle)|
54%%
55%% Description
56% In order to use the HiTechnic Gyro Sensor, it has first to be opened
57% using |OpenGyro|. Then |CalibrateGyro| should be called (or a warning
58% will be issued). Only after this you can safely use |GetGyro| to
59% retrieve values.
60%%
61% This function will set (and return) the new offset (i.e. reading during
62% reast) of the according Gyro sensor. Normally users should use the
63%%
64% *automatic* calibration mode: |offset = CalibrateGyro(port, 'AUTO')|
65%%
66% The offset will be calculated automatically. During this function the Gyro sensor
67% value will be measured for at least 1 second (or for at least 5 times). During this
68% period, the sensor must be at full rest!
69%%
70% If you want to save time during your program with a well-known Gyro
71% sensor, or you cannot assure that the sensor is at rest during
72% calibration, you can use the automatic calibration once in the command
73% line and remember the determined offset value. Using manual
74% calibration, you can then set a hardcoded value manually (saving you
75% time and the calibration for this sensor in the future in that specific
76% program).
77%%
78% Use |CalibrateGyro(port, 'MANUAL', manualOffset)| to achieve this, with
79% a correct offset obtained from automatic calibration. This call won't
80% require that the sensor doesn't move. Also the call is very fast (as
81% compared to at least 1 second in automatic mode). Use integers for
82% |manualOffset|, as the gyro sensor is only accurate to +/- 1 degree per
83% second anyway.
84%%
85% The last optional argument (for both modes) can be a valid NXT handle. If none is
86% specified, the default handle will be used (call |COM_SetDefaultNXT| to
87% set one).
88%%
89%%
90% *Note:*
91%%
92% Manual calibration only works for one specific sensor (i.e. one unique
93% piece of hardware). Other sensors might have different offsets. Also it
94% could be possible that the offset changes over time or is dependent on
95% your working environment (humidity, temperature, etc).
96%%
97%% Examples
98   % in this example the gyro is used with automatic
99   % calibration, very straight forward
100
101   port = SENSOR_2;
102   OpenGyro(port);
103   CalibrateGyro(port, 'AUTO');
104
105   % now the gyro is ready to be used!
106   % do something, main program etc...
107   speed = GetGyro(port);
108
109   % do something else, loop etc...
110   % don't forget to clean up
111   CloseSensor(port);
112%%
113   % in this example we save the time and effort of
114   % automatic calibration each time the main program is run...
115   % on a command window, type:
116   h = COM_OpenNXT();
117   COM_SetDefaulNXT(h);
118   OpenGyro(SENSOR_1);
119   % now, once the automatic calibration:
120   offset = CalibrateGyro(SENSOR_1, 'AUTO');
121   % remember this value...
122%%
123   % our main program looks like this:
124   % always open gyro first:
125   OpenGyro(SENSOR_1);
126   % now use the offset value determined earlier:
127   CalibrateGyro(SENSOR_1, 'MANUAL', offset);
128   % ready to use GetGyro now...
129%%
130%% See also
131% OpenGyro, GetGyro, CloseSensor, NXT_SetInputMode, NXT_GetInputValues
132%%
133%% Signature
134%%
135% * *Author:* Linus Atorf (see AUTHORS)
136% * *Date:* 2009/04/14
137% * *Copyright:* 2007-2009, RWTH Aachen University
138%
139
140##### SOURCE END #####
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