package lejos.nxt.addon;
import lejos.nxt.ADSensorPort;
import lejos.nxt.SensorConstants;
/*
* WARNING: THIS CLASS IS SHARED BETWEEN THE classes AND pccomms PROJECTS.
* DO NOT EDIT THE VERSION IN pccomms AS IT WILL BE OVERWRITTEN WHEN THE PROJECT IS BUILT.
*/
/**
* Support the HiTechnic Gyro sensor - untested.
* http://www.hitechnic.com/
*
* @author Lawrie Griffiths
*
*/
public class GyroSensor implements SensorConstants {
ADSensorPort port;
private int offset = 600;
public GyroSensor(ADSensorPort port)
{
this.port = port;
port.setTypeAndMode(TYPE_CUSTOM,
MODE_RAW);
}
/**
* Read the gyro value
*
* @return gyro value
*/
public int readValue()
{
return (port.readRawValue() - offset);
}
/**
* Set the offset
*/
public void setOffset(int offset) {
this.offset = offset;
}
}