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pybricks._common.IMU: Heading is clockwise positive.

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This is not a breaking change because heading() was never implemented until now.
This commit is contained in:
Laurens Valk
2023-04-21 10:42:30 +02:00
committed by laurensvalk
parent ccd2b46819
commit fdbd078388
1 changed files with 5 additions and 7 deletions
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src/pybricks/_common.py
+5 -7
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@@ -1062,15 +1062,13 @@ class IMU(Accelerometer):
def heading(self) -> float:
"""heading() -> float: deg
Gets the heading angle relative to the starting orientation. It is a
positive rotation around the :ref:`z-axis in the robot
frame <robotframe>`, prior to applying any tilt rotation.
Gets the heading angle of your robot. A positive value means a
clockwise turn.
For a vehicle viewed from the top, this means that
a positive heading value corresponds to a counterclockwise rotation.
The heading is 0 when your program starts. The value continues to grow
even as the robot turns more than 180 degrees. It does not wrap around
to -180 like it does in some apps.
The heading value continously increments as the robot keeps turning. It
does *not* wrap around after reaching 180 degrees.
.. note:: *For now, this method only keeps track of the heading while
the robot is on a flat surface.*