# Acceleration

**Acceleration**

Acceleration refers to the rate at which the robot's velocity changes over time. It is a crucial aspect of controlling the robot's movement and ensuring smooth, precise actions. The blocks in this section allow you to create acceleration objects, manipulate these objects, and obtain information from these objects.

**DistanceUnit**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXdDIZoyVe2CzV1chn-BIqgl4I87MlDcSm4PzVYX_m5Yx2E1vvKvVZeCp7d0zhl8izrGIwuM8P8cto6BX2P3DPXBILUUGV110oyUNftYVDkN1K5izNMHa6qkl0gvw2yErwuAXQIb3qCr2RuYIDN7P-jiYDuf?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns the distance unit attribute of the acceleration object. Valid values are CM, INCH, METER and MM.

**XAccel**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXdl4Dyx-xbW9NyjTjubl32rWXOcIPldS1rAWSSDZ88EHJBC1s9zrFCiywluWDOWuLEw5Dj469JL6VM7JmmKAazOF-3R8VgbVxYdi8I2N6srSiH-Yk6db5iuaf9ROP1SgKFJD6ZJfVfLKuALJoHMk26duadM?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns the acceleration along the X-axis of the acceleration object.

**YAccel**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXfpWIE3_w3bux9TF0fNtse5-3ha9mJHq9hzLbp3dTt99tvigRywe2ZKMuDYROx-6b8ucuJWYo6bMS-eO9OlDqYl-B03d_dT99p9mydFT6YyD87hBCdkeMU1cgn43gTRCLp5nI5ha1QlwvkjgZ9RjDTPcoTT?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns the acceleration along the Y-axis of the acceleration object.

**ZAccel**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXcKU9hbf-4q2LyI1YMCuoJricXL8P-IHylZiWC8wy4Vh536Nw2E_Jebmo823v-RPKcke77jmnI3ebHG48pO_F14yUBgsW8HZC7969Nr9rgygdllXcOHixOafh7AHFOfqOQSmql2SWjfBo2cGx30fAWEjJE?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns the acceleration along the Z-axis of the acceleration object.

**AcquisitionTime**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXcrm4DyjGJmpHgFArHcZotmG4KoImt6z4RDrK62x9PJLE8hMSoCBf1-zqsU_O1QWxZOdFjBLmK_eBiPrNa0favO_Ydi4-FNcNuFzYIxOB37lB4f54BOBa2p_vSb54uaod6ME3msdYjbJAMiElC7b1oDgg1B?key=hRw9bBhBfp1lHBJ7rUAI2Q)

 Returns the acquisition time of the acceleration object.

**toDistanceUnit**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXd58PWotHVEn9NOGx32AvOBzd4Yj7PTWXlqOuHM_BNQjK4GTJS0TBOKSkbSHkHPmMQde0I2GDwKXWYzoh9eZSAdvUhg_nS61yx8t0qf29v6GFk5FQRkEr-eJtBsyLN7EY9fMzUEx4yEbip41CymsaoYFBM?key=hRw9bBhBfp1lHBJ7rUAI2Q)

 Returns a new Acceleration object based on another acceleration object after converting its x, y and z acceleration values to the specified distant unit.

**toText**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXfNQATqmdzkGTl8CAD-7QOo2DUT64-J56EOUDVAzq1TLgJUEe8p6V_f2pJNDrgvHNQGs-P7S7ujJxFOFdAt3nCH6AxfRH15Eh82Ua3J3KYL_Mop9tgNV8k7ylJ2djrniJLynapmVYKC00u3pl73TuIQcv_a?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns text string that is a formatted version of the acceleration object.

**new Acceleration**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXeKXKjhONjn-mLDmZ6oTg_2U663xuMrYyDY3Wmsd3SIhB6Rnx0C2eVnO_DcMFL5Md3aMm4WoUbtTFfkfefMPM8MS41zaxeUO3Z-tTLdpZYXAeyQpGgoU78F6MQTe3i9Nx5LLg-yWHEuFKtHL5--eY6ZQq8?key=hRw9bBhBfp1lHBJ7rUAI2Q)

 Returns a new Acceleration object.

**new Acceleration (expanded)**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXcSSbIKWoilQiUtN2S-SCudcSgh03oleVHDXF3_5ZON58UDIhFJdC9Wthn6mZxnJrttnFm88_uW9li6LmBZxTzE6mtD2aywiFHWMkqzAODale8ZNIZ3sr2lCp2oPmEwiXYnxe6jK7gr2lixZiUgFR3yB9M?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns a new Acceleration object using the specified distance unit, x, y and z acceleration values in those units and the current system time as the acquisition time.

**fromGravity**

![](https://lh7-rt.googleusercontent.com/docsz/AD_4nXf2ed_nKH2P85e5uj5u6Ms3WhucHXpCKsyYkGmJzhhYgFwxgJ9c3bR-w5vC_Zwb2dhbaIeqxUL4FIfhsLtuw_bEKmVMGGsprgqcYWGHexmZrsO58TiHSCsEep5yoFgFyTFO-_1NJ7xNCA2Bya6tlnwZWH9I?key=hRw9bBhBfp1lHBJ7rUAI2Q)

Returns a new Acceleration object with x, y, and z components expressed as multiples of the gravitational acceleration constant (g) and the current system time recorded as the acquisition time.


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