nn::hid::CTR::GyroscopeReader Class

class GyroscopeReader : private ADLFireWall::NonCopyable

Class for loading sampling data from the gyro sensor.

Sampling Rate

Samples the angular velocity of the gyro sensor an average of every 10 milliseconds. Use the nn::hid::CTR::Gyroscope class to know when sampling occurs, allowing you to accurately monitor sampling timing.

Output Value Details

This class stores sampling results as a nn::hid::CTR::GyroscopeStatus structure. This structure contains not just the angular velocity, but also information about the attitude calculated from the angular velocity. Attitude is calculated when the nn::hid::CTR::GyroscopeReader::Read or nn::hid::CTR::GyroscopeReader::ReadLatest functions are called, and either one must be called regularly (ideally every frame). Data stored in the internal buffer can become discontinuous, resulting in less accurate attitude information, if too much time elapses between calls to either of these functions.

Conditions to Start Sampling

Gyro sensor sampling halts when the system is asleep, and when there are no instances of the GyroscopeReader class. It takes up to approximately 160 milliseconds for the system to transition to a state where sampling is possible. No sampling is done during this transition time, and calls to the nn::hid::CTR::GyroscopeReader::Read or nn::hid::CTR::GyroscopeReader::ReadLatest functions have no effect. To be sure to obtain sampling results, Nintendo recommends calling the nn::hid::CTR::Gyroscope::WaitSampling function, which waits until results have been sampled at least once. Starting from the second instance, this sampling wait time is the same as the wait until the next sample, which is a maximum of approximately 10 milliseconds.

Correction Processing

This class includes the following correction processing for getting information more accurately.

Acceleration Correction	Uses the accelerometer to improve the accuracy of CTR attitude calculations.
Zero-Point Drift Correction	The gyro sensor's zero point can drift due to environmental factors. This correction automatically detects zero-point drift and adjusts angular velocity values accordingly.

All correction processes are enabled by default, but can be configured or disabled as necessary. For details, see the various function references.

Output Value Processing Features

This class includes the following features to process output values.

Zero-Point Play Tolerance	Sampling results within an optional radius from the zero point are output as the zero point. Use this when you want to ignore small movements.
Axial Rotation	Apply an optional rotational matrix to sampling results before output. Use this to output gyro sensor values that mimic a tilt.

All processing features are disabled by default. Configure and enable them as needed. For details, see the various function references.

Axis Orientation

The default gyro sensor axes are as follows.

X+	A clockwise rotation about the direction indicated by the Left Button on the +Control Pad.
Y+	A clockwise rotation about the direction indicated by the touch screen face.
Z+	A clockwise rotation about the direction indicated by the Up Button on the +Control Pad.

Miscellaneous Notes

This class maintains an internal instance of the AccelerometerReader class for acceleration correction. The accelerometer is consequently started up once this instance is generated.

ADLFireWall::NonCopyable
  nn::hid::CTR::GyroscopeReader

2010/10/20

Initial version.