mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 01:24:17 +00:00
Laurens Valk
477c913ec2
Point to point commands will always hold. The stop method can be used to enforce other stop types.
119 lines
3.9 KiB
Python
119 lines
3.9 KiB
Python
"""Robotics module for the Pybricks API."""
|
|
|
|
from .parameters import Stop
|
|
from .builtins import Control
|
|
|
|
|
|
class DriveBase():
|
|
"""A robotic vehicle with two powered wheels and an optional support
|
|
wheel or caster."""
|
|
|
|
distance_control = Control()
|
|
"""PID control is used to track the desired speed and travel the control
|
|
required distance You can change the behavior through this attribute.
|
|
See :ref:`control` for an overview of available methods."""
|
|
|
|
heading_control = Control()
|
|
"""PID control is used to synchronize the wheel speed,
|
|
track the turn rate, and reach the turn angle. You can change the control
|
|
behavior through this attribute. See :ref:`control` for an overview of
|
|
available methods."""
|
|
|
|
def __init__(self, left_motor, right_motor, wheel_diameter, axle_track):
|
|
"""DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
|
|
|
|
Arguments:
|
|
left_motor (Motor):
|
|
The motor that drives the left wheel.
|
|
right_motor (Motor):
|
|
The motor that drives the right wheel.
|
|
wheel_diameter (:ref:`dimension`): Diameter of the wheels.
|
|
axle_track (:ref:`dimension`): Distance between the midpoints of
|
|
the two wheels.
|
|
"""
|
|
|
|
def drive(self, drive_speed, turn_rate):
|
|
"""Start driving at the specified speed and turn rate. Both values are
|
|
measured at the center point between the wheels of the robot.
|
|
|
|
Arguments:
|
|
drive_speed (:ref:`linspeed`): Speed of the robot. Positive is forward,
|
|
negative is backward.
|
|
turn_rate (:ref:`speed`): Turn rate of the robot. Positive is to the
|
|
right, negative is to the left.
|
|
"""
|
|
pass
|
|
|
|
def stop(self, stop_type=Stop.COAST):
|
|
"""Stop the robot.
|
|
|
|
Arguments:
|
|
stop_type (Stop): Whether to coast, brake, or hold (*Default*:
|
|
:class:`Stop.COAST <.parameters.Stop>`).
|
|
"""
|
|
pass
|
|
|
|
def distance(self):
|
|
"""Get the estimated driven distance.
|
|
|
|
Returns:
|
|
:ref:`distance`: Driven distance since last reset.
|
|
"""
|
|
pass
|
|
|
|
def angle(self):
|
|
"""Get the estimated rotation angle of the drive base.
|
|
|
|
Returns:
|
|
:ref:`angle`: Accumulated angle since last reset.
|
|
"""
|
|
pass
|
|
|
|
def state(self):
|
|
"""Get the instantaneous physical state.
|
|
|
|
This returns the current :meth:`.distance`, the drive speed, the
|
|
:meth:`.angle`, and the turn rate.
|
|
|
|
:returns: Distance, drive speed, angle, turn rate
|
|
:rtype: (:ref:`distance`, :ref:`linspeed`, :ref:`angle`, :ref:`speed`)
|
|
"""
|
|
pass
|
|
|
|
def reset(self):
|
|
"""Reset the estimated driven distance and angle to 0."""
|
|
pass
|
|
|
|
def settings(self, drive_speed, drive_acceleration, turn_rate,
|
|
turn_acceleration):
|
|
"""Configure the acceleration and maximum speed used
|
|
by :meth:`.straight`, :meth:`.turn`, and :meth:`.drive`.
|
|
|
|
If you give no arguments, this returns the current values as a tuple.
|
|
|
|
Arguments:
|
|
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.
|
|
turn_acceleration (:ref:`acceleration`): Angular acceleration of
|
|
the robot.
|
|
"""
|
|
pass
|
|
|
|
def straight(self, distance):
|
|
"""Drive straight for a given distance and then stop.
|
|
|
|
Arguments:
|
|
distance (:ref:`distance`): Distance to travel.
|
|
"""
|
|
pass
|
|
|
|
def turn(self, angle):
|
|
"""Turn in place by a given angle and then stop.
|
|
|
|
Arguments:
|
|
angle (:ref:`angle`): Angle of the turn.
|
|
"""
|
|
pass
|