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api/robotics: update DriveBase API

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Make arc a non-blocking function similar to drive. This allows users to drive the robot along an arc until a sensor (e.g. color) is triggered, instead of relying on the rotation sensors only.

This also lets us simplify the language of some other method docstrings.
This commit is contained in:
Laurens Valk
2020-01-23 17:58:24 +01:00
parent f5094cfaba
commit dd39a2e00f
2 changed files with 29 additions and 31 deletions
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doc/api/robotics.rst
+7 -5
View File
@@ -14,13 +14,11 @@
.. automethod:: pybricks.robotics.DriveBase.turn
.. 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.drive
.. automethod:: pybricks.robotics.DriveBase.arc
.. automethod:: pybricks.robotics.DriveBase.stop
@@ -31,3 +29,7 @@
.. automethod:: pybricks.robotics.DriveBase.angle
.. automethod:: pybricks.robotics.DriveBase.reset
.. rubric:: Settings
.. automethod:: pybricks.robotics.DriveBase.set_drive_settings
pybricks/robotics.py
+22 -26
View File
@@ -21,13 +21,24 @@ class DriveBase():
"""
def start(self, drive_speed, turn_rate):
def drive(self, speed, steering):
"""Start driving at the specified speed and turn rate, both measured at
the center point between the wheels of the robot.
Arguments:
drive_speed (:ref:`linspeed`): Forward speed of the robot.
turn_rate (:ref:`speed`): Turn rate of the robot.
speed (:ref:`linspeed`): Forward speed of the robot.
steering (:ref:`speed`): Turn rate of the robot.
"""
pass
def arc(self, speed, radius):
"""Start driving along an arc/circle with a given radius.
Arguments:
drive_speed (:ref:`linspeed`): Speed of the robot along the arc.
radius (:ref:`dimension`): Radius of the arc. A positive radius
value makes your robot go right. A negative radius value makes
it go left.
"""
pass
@@ -43,7 +54,7 @@ class DriveBase():
pass
def distance(self):
"""Get the estimated accumulated driven distance.
"""Get the estimated driven distance.
Returns:
:ref:`distance`: Driven distance since last reset.
@@ -51,7 +62,7 @@ class DriveBase():
pass
def angle(self):
"""Get the estimated accumulated rotation angle of the drive base.
"""Get the estimated rotation angle of the drive base.
Returns:
:ref:`angle`: Accumulated angle since last reset.
@@ -59,22 +70,20 @@ class DriveBase():
pass
def reset(self):
"""Reset the accumulated driven distance and angle to 0."""
"""Reset the estimated 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`,
and :meth:`.arc` methods.
"""Configure the default speed and acceleration.
Arguments:
drive_speed (:ref:`linspeed`): Forward speed of the robot.
drive_acceleration (:ref:`linacceleration`): Forward acceleration
drive_speed (:ref:`linspeed`): Drive speed of the robot.
drive_acceleration (:ref:`linacceleration`): Linear acceleration
of the robot.
turn_rate (:ref:`speed`): Turn rate of the robot. Applies
to :meth:`.turn` method only.
turn_rate (:ref:`speed`): Turn rate of the robot.
turn_acceleration (:ref:`acceleration`): Angular acceleration of
the robot. Applies to :meth:`.turn` method only.
the robot.
stop_type (Stop): Whether to coast, brake, or hold after
a given command is complete.
"""
@@ -95,16 +104,3 @@ class DriveBase():
angle (:ref:`angle`): Angle of the turn.
"""
pass
def arc(self, radius, angle):
"""Drive along an arc with a given radius by a given angle. An arc is
a segment of a circle.
A positive radius value makes your robot go right. A negative radius
makes it go left.
Arguments:
radius (:ref:`dimension`): Radius of the circle.
angle (:ref:`angle`): Angle traversed along the circle.
"""
pass