mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 17:46:19 +00:00
David Lechner
87c2b6857f
Intellisense in VS Code (both jedi and ms python language server) picks up all imported names and suggests them with equal priority for code completion. By adding a leading underscore, intellisense lists these with a lower priority, so they don't get in the way. Also rename from builtins to _common while we are touching this to better reflect the intention of the module (it contains types shared by multiple modules, not builtin types like int).
122 lines
4.1 KiB
Python
122 lines
4.1 KiB
Python
# SPDX-License-Identifier: MIT
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# Copyright (c) 2018-2020 The Pybricks Authors
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"""Robotics module for the Pybricks API."""
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from ._common import Control as _Control
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class DriveBase:
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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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"""The traveled distance and drive speed are controlled by a PID
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controller. You can use this attribute to change its settings.
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See :ref:`control` for an overview of available methods."""
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heading_control = _Control()
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"""The robot turn angle and turn rate are controlled by a PID
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controller. You can use this attribute to change its settings.
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See :ref:`control` for an overview of 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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Arguments:
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left_motor (Motor):
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The motor that drives the left wheel.
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right_motor (Motor):
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The motor that drives the right wheel.
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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, drive_speed, turn_rate):
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"""Starts 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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drive_speed (:ref:`linspeed`): Speed of the robot. Positive is forward,
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negative is backward.
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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 stop(self):
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"""Stops the robot by letting the motors spin freely."""
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pass
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def distance(self):
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"""Gets the estimated driven distance.
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Returns:
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:ref:`distance`: Driven distance since last reset.
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"""
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pass
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def angle(self):
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"""Gets the estimated rotation angle of the drive base.
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Returns:
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:ref:`angle`: Accumulated angle since last reset.
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"""
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pass
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def state(self):
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"""Gets the state of the robot.
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This returns the current :meth:`.distance`, the drive speed, the
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:meth:`.angle`, and the turn rate.
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:returns: Distance, drive speed, angle, turn rate
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:rtype: (:ref:`distance`, :ref:`linspeed`, :ref:`angle`, :ref:`speed`)
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"""
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pass
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def reset(self):
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"""Resets the estimated driven distance and angle to 0."""
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pass
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def settings(self, straight_speed, straight_acceleration, turn_rate,
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turn_acceleration):
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"""Configures the speed and acceleration used
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by :meth:`.straight` and :meth:`.turn`.
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If you give no arguments, this returns the current values as a tuple.
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You can only change the settings while the robot is stopped. This is
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either before you begin driving or after you call :meth:`.stop`.
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Arguments:
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straight_speed (:ref:`linspeed`): Speed of the robot during
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:meth:`.straight`.
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straight_acceleration (:ref:`linacceleration`): Acceleration and
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deceleration of the robot at the start and end
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of :meth:`.straight`.
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turn_rate (:ref:`speed`): Turn rate of the robot
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during :meth:`.turn`.
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turn_acceleration (:ref:`acceleration`): Angular acceleration and
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deceleration of the robot at the start and end
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of :meth:`.turn`.
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"""
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pass
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def straight(self, distance):
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"""Drives straight for a given distance and then stops.
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Arguments:
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distance (:ref:`distance`): Distance to travel.
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"""
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pass
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def turn(self, angle):
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"""Turns in place by a given angle and then stops.
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Arguments:
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angle (:ref:`angle`): Angle of the turn.
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"""
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pass
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