# AngularVelocity

AngularVelocity refers to the rate at which an object or robot rotates around an axis. It's a crucial concept for understanding and controlling the rotational motion of various components in your robot, such as wheels, arms, or sensors. The blocks in this section allow you to create angular velocity objects, manipulate these objects, and obtain information from these objects.

**AngularVelocity.AngleUnit**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXeqKiIGcBRPiIdDpzpHejjz1In6IeY4_k-ueLSoUifNMRDqIFa_Fggin9sW4lRQsQGxeyHhkTEhj4lTgM-QwwsB_MfnAD_aIRvlNDc3xWRR1JBpBEAhLOHZ01l0OllMOLmnkNLiurl121qfNcCZhBkyyl-g?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns the angle unit (DEGREES or RADIANS) of the given angular velocity object.

**AngularVelocity.XRotationRate**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXe3lEuQH3dl6l36-uo4RMHkgjLgizEBv1gij-d1FrmtFrRgQhu8L6h_Bwxvk9rAsdrS6wgforv5ZR89jtAMArJI7PJ0ovAQztTVaExYdhXa4M44BAAfHcyoGmsZqf1sBqQPLiCKSzd2iMUoQ9RO9jSeoCjm?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns the rotational rate along the X-axis of the given angular velocity object.

**AngularVelocity.YRotationRate**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXeABUJTc-Hu-wcAM006dn3MZuU4GyN6X4m4BH_0j4lt9viPoMQrt3nBW06EHElaHoEYnizafrjs7a9ewIrPM433LeYSF_0liM_6BOkx3NpMZZXWpkQ-aoun6qffIttjeWOYW2Y4jDAqxOYx9y3_BrUx6pff?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns the rotational rate along the Y-axis of the given angular velocity object.

**AngularVelocity.ZRotationRate**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXeDDq6LlvkerjsLegBQk-btCdzl7lhP4JmpU3X5DwaRSjc6kMYDxl7-6gGa_VeWutHjeCSTMijG7XkdT1HbxW5Cl4TKK_5hEMzKSRzo2q51a9VzjAN56Zf1laWW9Pew8vwhlqAcIAU9x33IzxNQ0az6nCM?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns the rotational rate along the 2-axis of the given angular velocity object.

**call AngularVelocity.getRotationRate**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXcKN9daxXbnrvDGtwAqD076XVV5zQOggkC9ahjY8Ljo6z9XUAQNG2qAgXrp36aUMbBVO091OeXfv-3UQAGgtn1hIElWymI4waFyppv7_UxNnnUbnmY7x8opv-M0-gGznYtffIP9vUH9DiP7MH6JnJmIHEw?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns the rotational rate of the given angular velocity object along the given axis (X, Y, or Z).

**AngularVelocity.AcquisitionTime**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXetzxDwyRIoWSymoST2Xp-tEVKqWJHVV3f6GUIFt9hsfFXtJdbITQ3CBx7UHaMgKFeHmzwi6-arQGOjSBOMxpuoGz3E9--4PwXSvIkhqzz4H_3yLwL90xKlKyysTuw43qSkl6QwDgKRtMrhjSvnfyfTftk?key=hRw9bBhBfp1lHBJ7rUAI2Q)

 Returns the acquisition time of the angular velocity object.

**call AngularVelocity.toAngleUnit**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXfHyELSLfs55fbrM9B_V6ksgeo3Nvu3r7e-vicAh2bqMH71qiN7C3pyUZN6oDLG--byYiHW-vyTqJnOL2vtZH4H34j5Yoe5FndDAadZC6VmuMuySlqe25dCuwegIbVGoPP_mgpNZTk5owE5Fbwi89Sl1SnD?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns a new angular velocity object based on another object after converting its x, y and z rotation rates to the specified units.

**new AngularVelocity**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXeOkY_VE_y0aI9maf4UrJ0qxELvCaii30VC-XlYdPi4KtK0uFvHXO-p06mEQs68vYD00zruES5M5kkW96Lz9r0b12HsZNoFf7i89RgaxXGtgOneDwax2CoX6Nu8_9W16qq8_bFu8PWncrVE6I1m4ExdteM?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns a new angular velocity object.

**new AngularVelocity (expanded)**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXcgAz-ynRSRRaYwO8INSLfk_2qOH5Z6OKlcsZkOLBTMzY5F2zeCXsMa07fZPrEjllHpj6vPBj7ObdVxvXtgyamvKC46A7US801_8CpjEb6nZZRp3IkSa0uXzCuS6pFRq1kwIUseKgsCHi4KC34BamMRUCm2?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns a new angular velocity object using the provided unit and x, y and z rotation rates. The  new angular velocity object sets the current system time as the acquisition time.

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