From 492d6cd2d4edb8057c423a5a3dfd456714fe1678 Mon Sep 17 00:00:00 2001
From: Barry-Williams <69337381+Barry-Williams@users.noreply.github.com>
Date: Fri, 28 Oct 2022 15:29:56 +1030
Subject: [PATCH] pybricks.robotics.DriveBase: Add basic example.

---
 doc/main/robotics.rst                     |  9 +++++++++
 examples/pup/robotics/drivebase_basics.py | 24 +++++++++++++++++++++++
 2 files changed, 33 insertions(+)
 create mode 100644 examples/pup/robotics/drivebase_basics.py

diff --git a/doc/main/robotics.rst b/doc/main/robotics.rst
index 36dd24e..68ab5ab 100644
--- a/doc/main/robotics.rst
+++ b/doc/main/robotics.rst
@@ -104,3 +104,12 @@
 
     .. autoattribute:: pybricks.robotics.DriveBase.heading_control
         :annotation:
+
+Examples
+-------------------
+
+Driving straight and turning in place
+**********************************************
+
+.. literalinclude::
+    ../../examples/pup/robotics/drivebase_basics.py
diff --git a/examples/pup/robotics/drivebase_basics.py b/examples/pup/robotics/drivebase_basics.py
new file mode 100644
index 0000000..ddb4eb2
--- /dev/null
+++ b/examples/pup/robotics/drivebase_basics.py
@@ -0,0 +1,24 @@
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Port, Direction
+from pybricks.robotics import DriveBase
+
+# Initialize both motors. In this example, the motor on the
+# left must turn counterclockwise to make the robot go forward.
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+# Initialize the drive base. In this example, the wheel diameter is 56mm.
+# The distance between the two wheel-ground contact points is 112mm.
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=112)
+
+# Drive forward by 500mm (half a meter).
+drive_base.straight(500)
+
+# Turn around clockwise (180 degrees)
+drive_base.turn(180)
+
+# Drive forward again to drive back.
+drive_base.straight(500)
+
+# Turn around counterclockwise.
+drive_base.turn(-180)