Gyro

The Gyro class constructs objects that represent a single Gyro sensor attached to the physical board.

We currently support two kinds of Gyros:

• Analog (Like the Tinkerkit 2-Axis Gyro)
• MPU-6050 I2C IMU

This list will continue to be updated as more Gyro devices are confirmed.

Parameters

• General Options

Property Name	Type	Value(s)	Description	Default	Required
controller	string	"ANALOG" | "MPU6050"	The Name of the controller to use	"ANALOG"	no

• Analog Options(controller: "ANALOG")

Property Name	Type	Value(s)	Description	Default	Required
pins	Array of Strings	["A*"]	The String analog pins that X, Y, and Z (optional) are attached to	none	yes
sensitivity	Number	Varies by device. For Tinkerkit, use `Gyro.TK_4X` or `Gyro.TK_1X`	This value can be identified in the device's datasheet.	none	yes
resolution	Number	Varies by device	This value can be identified in the device's datasheet	4.88	no

• MPU-6050 Options(controller: "MPU6050")

Property Name	Type	Value(s)	Description	Default	Required
sensitivity	Number	LSB/DegreesPerSecond	The sensitivity of the device. The MPU-6050 is currently configured at +/- 250 degrees per second	131	no

// Create an analog Gyro object:
// 
//   - attach X and Y to "A0" and "A1" respectively
//   - Use the LPR5150AL 4X sensitivity rating
//
var gyro = new five.Gyro({
  pins: ["A0", "A1"],
  sensitivity: 0.67,
  resolution: 4.88
});

// Create an MPU-6050 Gyro object:
//
//  - attach SDA and SCL to the I2C pins on your board (A4 and A5 for the Uno)
//  - specify the MPU6050 controller
var gyro = new five.Gyro({
  controller: "MPU6050",
  sensitivity: 131
});

Shape

{ 
  id: A user definable id value. Defaults to a generated uid
  pins: The pins defined for X, Y, and Z.
  isCalibrated: The calibration state of the device. READONLY
  pitch: An object containing values for the pitch rate and angle. READONLY
  roll: An object containing values for the roll rate and angle. READONLY
  yaw: An object containing values for the yaw rate and angle. READONLY
  rate: And object containing the rate values of X, Y, and Z. READONLY
  x: Value of x axis. READONLY
  y: Value of y axis. READONLY
  z: Value of z axis. READONLY
}

Usage

var five = require("johnny-five"), 
    board = new five.Board();

board.on("ready", function() {

  var gyro = new five.Gyro({
    pins: ["I0", "I1"],
    sensitivity: 0.67 // LPR5150AL 4X
  });

  gyro.on("change", function(err, data) {
    console.log("X raw: %d rate: %d", this.x, this.rate.x);
    console.log("Y raw: %d rate: %d", this.y, this.rate.y);
  });
});

API

• recalibrate() Tell the device to recalibrate

Events

• change The "change" event is emitted whenever the value of the gyro changes more then the threshold value allows.

• data The "data" event is fired as frequently as the user defined freq will allow in milliseconds. ("data" replaced the "read" event)

Examples

• Tinkerkit Gyroscope
• Gyro