robotics: basic placeholder DriveBase class

2026-09-12 01:24:17 +00:00 · 2019-02-21 12:24:25 +01:00
parent 78bb431bc0
commit 312b2a4818
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+"""Robotics module for the Pybricks API."""
+
+from parameters import Stop, Direction
+
+
+class DriveBase():
+    """Class respresenting a robotic vehicle with two powered wheels and optional wheel caster(s)."""
+
+    def __init__(self, left_motor, right_motor, wheel_diameter, axle_track):
+        """DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
+
+        Arguments:
+            left_motor (Motor): The motor that drives the left wheel.
+            right_motor (Motor): The motor that drives the right wheel.
+            wheel_diameter (:ref:`dimension`): Diameter of the wheels.
+            axle_track (:ref:`dimension`): Distance between the midpoints of the two wheels.
+
+        Example::
+
+            # Initialize two motors and a drive base
+            left = Motor(Port.B)
+            right = Motor(Port.C)
+            robot = DriveBase(left, right, 56, 114)
+        """
+
+    def drive(self, speed, steering):
+        """Start driving at the specified speed and turnrate, both measured at the center point between the wheels of the robot.
+
+        Arguments:
+            speed (:ref:`travelspeed`): Forward speed of the robot.
+            steering (:ref:`speed`): Turn rate of the robot.
+
+        Example::
+
+            # Initialize two motors and a drive base
+            left = Motor(Port.B)
+            right = Motor(Port.C)
+            robot = DriveBase(left, right, 56, 114)
+
+            # Initialize a sensor
+            sensor = UltrasonicSensor(Port.S4)
+
+            # Drive forward until an object is detected
+            robot.drive(100, 0)
+            while sensor.distance() > 500:
+                wait(10)
+            robot.stop()
+        """
+        pass
+
+    def drive_time(self, speed, steering, time):
+        """Drive at the specified speed and turnrate for a given amount of time, and then stop.
+
+        Arguments:
+            speed (:ref:`travelspeed`): Forward speed of the robot.
+            steering (:ref:`speed`): Turn rate of the robot.
+            time (:ref:`time`): Duration of the maneuver.
+
+        Example::
+
+            # Drive forward at 100 mm/s for two seconds
+            robot.drive(100, 0, 2000)
+
+            # Turn at 45 deg/s for three seconds
+            robot.drive(0, 45, 3000)
+        """
+        pass
+
+    def stop(self, stop_type=Stop.coast):
+        """stop(self, stop_type=Stop.coast)
+
+        Stop the robot.
+
+        Arguments:
+            stop_type (Stop): Whether to coast, brake, or hold (*Default*: :class:`Stop.coast <parameters.Stop>`).
+        """
+        pass