mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 01:24:17 +00:00
Laurens Valk
7f0b1489a2
These were hidden for the 3.0 release, but we can re-enable them for the beta release of 3.1. Revert "v3: Drop parameters Side and Button." This reverts commit07c53e9a3d. Revert "v3: Drop Remote control." This reverts commitb600f5029e. Revert "v3: Drop geometry module." This reverts commit5f767f3fee. Revert "v3: Drop Prime Hub and Inventor Hub." This reverts commit8db7892f8c. Revert "v3: Drop IMU documentation." This reverts commitb325bf4bff.
50 lines
1.7 KiB
ReStructuredText
50 lines
1.7 KiB
ReStructuredText
:mod:`geometry <pybricks.geometry>` -- Geometry and algebra
|
|
============================================================
|
|
|
|
.. module:: pybricks.geometry
|
|
|
|
.. autoclass:: pybricks.geometry.Matrix
|
|
:no-members:
|
|
|
|
.. autoattribute:: pybricks.geometry::Matrix.T
|
|
|
|
.. autoattribute:: pybricks.geometry::Matrix.shape
|
|
|
|
.. autofunction:: pybricks.geometry.vector
|
|
|
|
.. autoclass:: pybricks.geometry.Axis
|
|
:no-members:
|
|
|
|
.. _robotframe:
|
|
|
|
Reference frames
|
|
-----------------------
|
|
|
|
The Pybricks module and this documentation use the following conventions:
|
|
|
|
- X: Positive means forward. Negative means backward.
|
|
- Y: Positive means to the left. Negative means to the right.
|
|
- Z: Positive means upward. Negative means downward.
|
|
|
|
To make sure that all hub measurements (such as acceleration) have the correct
|
|
value and sign, you can specify how the hub is mounted in your creation. This
|
|
adjust the measurements so that it is easy to see how your *robot* is moving,
|
|
rather than how the *hub* is moving.
|
|
|
|
For example, the hub may be mounted upside down in your design. If you
|
|
configure the settings as shown in :numref:`fig_imuexamples`, the hub
|
|
measurements will be adjusted accordingly. This way, a positive acceleration
|
|
value in the X direction means that your *robot* accelerates forward, even
|
|
though the *hub* accelerates backward.
|
|
|
|
.. _fig_imuexamples:
|
|
|
|
.. figure:: ../api/images/imuexamples_label.png
|
|
:width: 100 %
|
|
|
|
How to configure the ``top_side`` and ``front_side`` settings for three
|
|
different robot designs. The same technique can be applied to other hubs
|
|
and other creations, by noting which way the top and
|
|
front :class:`Side <Side>` of the hub are pointing. The example
|
|
on the left is the default configuration.
|