From 09d453480b69349dc9d38c72290eda43664430fa Mon Sep 17 00:00:00 2001
From: Laurens Valk <laurens@pybricks.com>
Date: Thu, 2 Jan 2020 16:51:50 +0100
Subject: [PATCH] api/robotics: add DriveBase state getters

---
 doc/api/robotics.rst | 20 ++++++++++++++------
 pybricks/robotics.py | 20 ++++++++++++++++++++
 2 files changed, 34 insertions(+), 6 deletions(-)

diff --git a/doc/api/robotics.rst b/doc/api/robotics.rst
index b939a84..c82953c 100644
--- a/doc/api/robotics.rst
+++ b/doc/api/robotics.rst
@@ -8,12 +8,6 @@
 .. autoclass:: pybricks.robotics.DriveBase
     :no-members:
 
-    .. rubric:: Manual drive control
-
-    .. automethod:: pybricks.robotics.DriveBase.start
-
-    .. automethod:: pybricks.robotics.DriveBase.stop
-
     .. rubric:: Automatic drive control
 
     .. automethod:: pybricks.robotics.DriveBase.straight
@@ -23,3 +17,17 @@
     .. automethod:: pybricks.robotics.DriveBase.arc
 
     .. automethod:: pybricks.robotics.DriveBase.set_drive_settings
+
+    .. rubric:: Manual drive control
+
+    .. automethod:: pybricks.robotics.DriveBase.start
+
+    .. automethod:: pybricks.robotics.DriveBase.stop
+
+    .. rubric:: Measuring
+
+    .. automethod:: pybricks.robotics.DriveBase.distance
+
+    .. automethod:: pybricks.robotics.DriveBase.angle
+
+    .. automethod:: pybricks.robotics.DriveBase.reset
diff --git a/pybricks/robotics.py b/pybricks/robotics.py
index 10c4a5a..671a71b 100644
--- a/pybricks/robotics.py
+++ b/pybricks/robotics.py
@@ -42,6 +42,26 @@ class DriveBase():
         """
         pass
 
+    def distance(self):
+        """Get the estimated accumulated driven distance.
+
+        Returns:
+            :ref:`distance`: Driven distance since last reset.
+        """
+        pass
+
+    def angle(self):
+        """Get the estimated accumulated rotation angle of the drivebase.
+
+        Returns:
+            :ref:`angle`: Accumulated angle since last reset.
+        """
+        pass
+
+    def reset(self):
+        """Reset the accumulated driven distance and angle to 0."""
+        pass
+
     def set_drive_settings(self, drive_speed, drive_acceleration, turn_rate,
                            turn_acceleration, stop_type):
         """Configure the behavior of the :meth:`.straight`, :meth:`.turn`,