v5::Gps class
#include <pros/gps.hpp>
Base classes
- class Device
Public static functions
- static std::vector<Gps> get_all_devices()
- Gets all GPS sensors.
- static Gps get_gps()
- Gets a gps sensor that is plugged in to the brain.
Constructors, destructors, conversion operators
- Gps(const std::uint8_t port)
- Creates a GPS object for the given port.
- Gps(const Device& device)
- Gps(const std::uint8_t port, double xInitial, double yInitial, double headingInitial) explicit
- Creates a GPS object for the given port.
- Gps(const std::uint8_t port, double xOffset, double yOffset) explicit
- Creates a GPS object for the given port.
- Gps(const std::uint8_t port, double xInitial, double yInitial, double headingInitial, double xOffset, double yOffset) explicit
- Creates a GPS object for the given port.
Public functions
- std::int32_t initialize_full(double xInitial, double yInitial, double headingInitial, double xOffset, double yOffset) const virtual
- Set the GPS's offset relative to the center of turning in meters, as well as its initial position.
- std::int32_t set_offset(double xOffset, double yOffset) const virtual
- Set the GPS's offset relative to the center of turning in meters.
-
pros::
gps_position_s_t get_offset() const virtual - Get the GPS's cartesian location relative to the center of turning/origin in meters.
- std::int32_t set_position(double xInitial, double yInitial, double headingInitial) const virtual
- Sets the robot's location relative to the center of the field in meters.
- std::int32_t set_data_rate(std::uint32_t rate) const virtual
- Set the GPS sensor's data rate in milliseconds, only applies to IMU on GPS.
- double get_error() const virtual
- Get the possible RMS (Root Mean Squared) error in meters for GPS position.
-
pros::
gps_status_s_t get_position_and_orientation() const virtual - Gets the position and roll, yaw, and pitch of the GPS.
-
pros::
gps_position_s_t get_position() const virtual - Gets the x and y position on the field of the GPS in meters.
- double get_position_x() const virtual
- Gets the X position in meters of the robot relative to the starting position.
- double get_position_y() const virtual
- Gets the Y position in meters of the robot relative to the starting position.
-
pros::
gps_orientation_s_t get_orientation() const virtual - Gets the pitch, roll, and yaw of the GPS relative to the starting orientation.
- double get_pitch() const virtual
- Gets the pitch of the robot in degrees relative to the starting oreintation.
- double get_roll() const virtual
- Gets the roll of the robot in degrees relative to the starting oreintation.
- double get_yaw() const virtual
- Gets the yaw of the robot in degrees relative to the starting oreintation.
- double get_heading() const virtual
- Get the heading in [0,360) degree values.
- double get_heading_raw() const virtual
- Get the heading in the max double value and min double value scale.
-
pros::
gps_gyro_s_t get_gyro_rate() const virtual - Get the GPS's raw gyroscope value in z-axis.
- double get_gyro_rate_x() const virtual
- Get the GPS's raw gyroscope value in x-axis.
- double get_gyro_rate_y() const virtual
- Get the GPS's raw gyroscope value in y-axis.
- double get_gyro_rate_z() const virtual
- Get the GPS's raw gyroscope value in z-axis.
-
pros::
gps_accel_s_t get_accel() const virtual - Get the GPS's raw accelerometer values.
- double get_accel_x() const virtual
- Get the GPS's raw accelerometer value in x-axis.
- double get_accel_y() const virtual
- Get the GPS's raw accelerometer value in y-axis.
- double get_accel_z() const virtual
- Get the GPS's raw accelerometer value in z-axis.
Friends
-
std::ostream& operator<<(std::ostream& os,
const pros::
Gps& gps) - This is the overload for the << operator for printing to streams.