I am debating whether I should get the new inertial sensor to assist in turning. Does the gyro part wrap around to 0 when it gets to 360 or is it continuous? We figured out how to fix the drift with the old gyro but struggled with the wrap-around.
I’m not sure, but if it doesn’t “wrap around” it’s trivially easy to implement that yourself - gyro_value % 360 (where gyro_value is the value returned by the inertial sensor) will keep the value in the 0-360 range, effectively “wrapping it around” every time the robot does a complete circle.
% is the “modulo operator”, more on that here.
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I want it to go beyond 360 though. As far as I know, it is a massive pain to detect if the robot has turned more than one rotation if it does wrap.
You have the choice, Inertial.heading() will wrap at 360 Inertial.rotation() does not.
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Or you could check if it’s less than 0 and add 360, or if it’s over 360 subtract 360
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