mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 01:24:17 +00:00
Laurens Valk
82b16dc8de
In the implementation, the kwarg is called "speed". Instead of fixing the implementation which is already released, we fix the docs.
133 lines
4.4 KiB
Python
133 lines
4.4 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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By specifying the dimensions of your robot, this class
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makes it easy to drive a given distance in millimeters or turn by a given
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number of degrees.
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**Positive** distances and drive speeds mean
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driving **forward**. **Negative** means **backward**.
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**Positive** angles and turn rates mean turning **right**.
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**Negative** means **left**. So when viewed from the top,
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positive means clockwise and negative means counterclockwise.
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"""
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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 points where
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both wheels touch the ground.
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"""
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def drive(self, 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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speed (:ref:`linspeed`): Speed of the robot.
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turn_rate (:ref:`speed`): Turn rate of the robot.
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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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