mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 09:37:25 +00:00
78 lines
2.5 KiB
Python
78 lines
2.5 KiB
Python
"""Robotics module for the Pybricks API."""
|
|
|
|
from parameters import Stop, Direction
|
|
|
|
|
|
class DriveBase():
|
|
"""Class representing a robotic vehicle with two powered wheels and optional wheel caster(s)."""
|
|
|
|
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.
|
|
|
|
Example::
|
|
|
|
# Initialize two motors and a drive base
|
|
left = Motor(Port.B)
|
|
right = Motor(Port.C)
|
|
robot = DriveBase(left, right, 56, 114)
|
|
"""
|
|
|
|
def drive(self, speed, steering):
|
|
"""Start driving at the specified speed and turnrate, both measured at the center point between the wheels of the robot.
|
|
|
|
Arguments:
|
|
speed (:ref:`travelspeed`): Forward speed of the robot.
|
|
steering (:ref:`speed`): Turn rate of the robot.
|
|
|
|
Example::
|
|
|
|
# Initialize two motors and a drive base
|
|
left = Motor(Port.B)
|
|
right = Motor(Port.C)
|
|
robot = DriveBase(left, right, 56, 114)
|
|
|
|
# Initialize a sensor
|
|
sensor = UltrasonicSensor(Port.S4)
|
|
|
|
# Drive forward until an object is detected
|
|
robot.drive(100, 0)
|
|
while sensor.distance() > 500:
|
|
wait(10)
|
|
robot.stop()
|
|
"""
|
|
pass
|
|
|
|
def drive_time(self, speed, steering, time):
|
|
"""Drive at the specified speed and turnrate for a given amount of time, and then stop.
|
|
|
|
Arguments:
|
|
speed (:ref:`travelspeed`): Forward speed of the robot.
|
|
steering (:ref:`speed`): Turn rate of the robot.
|
|
time (:ref:`time`): Duration of the maneuver.
|
|
|
|
Example::
|
|
|
|
# Drive forward at 100 mm/s for two seconds
|
|
robot.drive_time(100, 0, 2000)
|
|
|
|
# Turn at 45 deg/s for three seconds
|
|
robot.drive_time(0, 45, 3000)
|
|
"""
|
|
pass
|
|
|
|
def stop(self, stop_type=Stop.COAST):
|
|
"""stop(stop_type=Stop.COAST)
|
|
|
|
Stop the robot.
|
|
|
|
Arguments:
|
|
stop_type (Stop): Whether to coast, brake, or hold (*Default*: :class:`Stop.COAST <parameters.Stop>`).
|
|
"""
|
|
pass
|