ADXRS453

```
public class ADXRS453_Gyro
extends GyroBase
```
Use a rate gyro to return the robots heading relative to a starting position. The Gyro class tracks the robots heading based on the starting position. As the robot rotates the new heading is computed by integrating the rate of rotation returned by the sensor. When the class is instantiated, it does a short calibration routine where it samples the gyro while at rest to determine the default offset. This is subtracted from each sample to determine the heading. This class is for the digital ADXRS453 gyro sensor that connects via SPI. A datasheet can be found here: http://www.analog.com/media/en/technical-documentation/data-sheets/ADXRS453. pdf

Fields
Modifier and Type	Field and Description
`static double`	`kCalibrationSampleTime`

Constructors
Constructor and Description
`ADXRS453_Gyro()` Constructor.
`ADXRS453_Gyro(SPI.Port port)` Constructor.

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`calibrate()` This is a blocking calibration call.
`void`	`cancelCalibrate()`
`void`	`endCalibrate()`
`void`	`free()` Delete (free) the spi port used for the gyro and stop accumulating.
`double`	`getAngle()`
`double`	`getCenter()`
`double`	`getRate()`
`boolean`	`isOnline()`
`void`	`reset()`
`void`	`startCalibrate()`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Class ADXRS453_Gyro