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api/robotics: simplify API
drop methods that will not be implemented for next release and simplify descriptions of methods that will be implemented.
This commit is contained in:
Laurens Valk
+25
-19
@@ -8,35 +8,28 @@
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.. autoclass:: pybricks.robotics.DriveBase
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:no-members:
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.. automethod:: pybricks.robotics.DriveBase.drive
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.. rubric:: Driving for a given distance or by an angle
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.. .. autoclass:: pybricks.robotics.DriveBase
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:no-members:
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.. rubric:: Automatic drive control
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Use these commands to drive a given distance, or turn by a given angle.
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This is measured using the internal rotation sensors. Because wheels may
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slip while moving, the traveled distance and angle are only estimates.
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.. automethod:: pybricks.robotics.DriveBase.straight
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.. automethod:: pybricks.robotics.DriveBase.turn
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.. rubric:: Manual drive control
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The methods :meth:`.drive`, :meth:`.arc`, and :meth:`.tank` make your
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drive base move at a desired speed and and steering level. It keeps moving
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until you stop it. For example, you can keep moving until an obstacle is
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detected with a sensor.
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Then use :meth:`.stop` to make your drive base stop.
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.. rubric:: Drive forever
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The only difference between :meth:`.drive`, :meth:`.arc`, and :meth:`.tank`
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is how you specify the desired speed and steering. You can choose the
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method which fits your application best.
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Use :meth:`.drive` to begin driving at a desired speed and steering.
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It keeps going until you use :meth:`.stop` or change course by
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using :meth:`.drive` again. For example, you can drive until a
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sensor is triggered and then stop or turn around.
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.. automethod:: pybricks.robotics.DriveBase.drive
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.. automethod:: pybricks.robotics.DriveBase.arc
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.. automethod:: pybricks.robotics.DriveBase.tank
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.. automethod:: pybricks.robotics.DriveBase.stop
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.. rubric:: Measuring
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@@ -49,4 +42,17 @@
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.. rubric:: Settings
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.. automethod:: pybricks.robotics.DriveBase.set_drive_settings
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.. automethod:: pybricks.robotics.DriveBase.settings
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.. rubric:: Advanced Settings
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The :meth:`.settings` method can be used to adjust the most commonly used
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settings. It interacts with both of the attributes below to set the
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desired speed and acceleration values. You can also adjust the control
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settings manually using these attributes.
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.. autoattribute:: pybricks.robotics.DriveBase.distance_control
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:annotation:
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.. autoattribute:: pybricks.robotics.DriveBase.heading_control
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:annotation:
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+25
-44
@@ -1,11 +1,23 @@
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"""Robotics module for the Pybricks API."""
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from .parameters import Stop
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from .builtins import Control
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class DriveBase():
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"""Class representing a robotic vehicle with two powered wheels and
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optional wheel caster(s)."""
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"""A robotic vehicle with two powered wheels and an optional support
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wheel or caster."""
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distance_control = Control()
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"""PID control is used to track the desired speed and travel the control
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required distance You can change the behavior through this attribute.
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See :ref:`control` for an overview of available methods."""
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heading_control = Control()
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"""PID control is used to synchronize the wheel speed,
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track the turn rate, and reach the turn angle. You can change the control
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behavior through this attribute. See :ref:`control` for an overview of
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available methods."""
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def __init__(self, left_motor, right_motor, wheel_diameter, axle_track):
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"""DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
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@@ -18,54 +30,20 @@ class DriveBase():
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wheel_diameter (:ref:`dimension`): Diameter of the wheels.
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axle_track (:ref:`dimension`): Distance between the midpoints of
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the two wheels.
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"""
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def drive(self, speed, steering):
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"""Start driving at the specified speed and turn rate, both measured at
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the center point between the wheels of the robot.
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This method is useful in applications where you often change the speed
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and steering. For example, when following a line using a light sensor.
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def drive(self, drive_speed, turn_rate):
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"""Start driving at the specified speed and turn rate. Both values are
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measured at the center point between the wheels of the robot.
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Arguments:
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speed (:ref:`linspeed`): Speed of the robot. Positive is forward,
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drive_speed (:ref:`linspeed`): Speed of the robot. Positive is forward,
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negative is backward.
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steering (:ref:`speed`): Turn rate of the robot. Positive is to the
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turn_rate (:ref:`speed`): Turn rate of the robot. Positive is to the
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right, negative is to the left.
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"""
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pass
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def arc(self, speed, radius):
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"""Start driving along an arc/circle with a given radius.
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This method is useful in applications where you want to drive smoothly
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around a known obstacle. Instead of going straight, turning, and then
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straight again. For example, you can make it drive in a semi-circle
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with a given radius and stop when a sensor detects an obstacle.
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Arguments:
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speed (:ref:`linspeed`): Speed of the robot along the arc.
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Positive is forward, negative is backward.
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radius (:ref:`dimension`): Radius of the arc. A positive radius
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value makes your robot go right. A negative radius value makes
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it go left.
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"""
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pass
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def tank(self, left, right):
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"""Start driving with the given speed for each wheel.
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This method is useful in applications where you just want to set the
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speed of the wheels or tank tracks, rather than the speed of the
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whole drive base.
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Arguments:
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left (:ref:`speed`): Speed of the left wheel.
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right (:ref:`speed`): Speed of the right wheel.
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"""
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pass
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def stop(self, stop_type=Stop.COAST):
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"""Stop the robot.
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@@ -95,9 +73,12 @@ class DriveBase():
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"""Reset the estimated driven distance and angle to 0."""
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pass
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def set_drive_settings(self, drive_speed, drive_acceleration, turn_rate,
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turn_acceleration, stop_type):
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"""Configure the default speed and acceleration.
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def settings(self, drive_speed, drive_acceleration, turn_rate,
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turn_acceleration, stop_type):
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"""Configure the acceleration and maximum speed used
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by :meth:`.straight`, :meth:`.turn`, and :meth:`.drive`.
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If you give no arguments, this returns the current values as a tuple.
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Arguments:
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drive_speed (:ref:`linspeed`): Drive speed of the robot.
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