mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 01:24:17 +00:00
111 lines
3.5 KiB
Python
111 lines
3.5 KiB
Python
"""Robotics module for the Pybricks API."""
|
|
|
|
from .parameters import Stop
|
|
|
|
|
|
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.
|
|
|
|
"""
|
|
|
|
def start(self, drive_speed, turn_rate):
|
|
"""Start driving at the specified speed and turn rate, both measured at
|
|
the center point between the wheels of the robot.
|
|
|
|
Arguments:
|
|
drive_speed (:ref:`linspeed`): Forward speed of the robot.
|
|
turn_rate (:ref:`speed`): Turn rate of the robot.
|
|
"""
|
|
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
|
|
|
|
def distance(self):
|
|
"""Get the estimated accumulated driven distance.
|
|
|
|
Returns:
|
|
:ref:`distance`: Driven distance since last reset.
|
|
"""
|
|
pass
|
|
|
|
def angle(self):
|
|
"""Get the estimated accumulated rotation angle of the drive base.
|
|
|
|
Returns:
|
|
:ref:`angle`: Accumulated angle since last reset.
|
|
"""
|
|
pass
|
|
|
|
def reset(self):
|
|
"""Reset the accumulated driven distance and angle to 0."""
|
|
pass
|
|
|
|
def set_drive_settings(self, drive_speed, drive_acceleration, turn_rate,
|
|
turn_acceleration, stop_type):
|
|
"""Configure the behavior of the :meth:`.straight`, :meth:`.turn`,
|
|
and :meth:`.arc` methods.
|
|
|
|
Arguments:
|
|
drive_speed (:ref:`linspeed`): Forward speed of the robot.
|
|
drive_acceleration (:ref:`linacceleration`): Forward acceleration
|
|
of the robot.
|
|
turn_rate (:ref:`speed`): Turn rate of the robot. Applies
|
|
to :meth:`.turn` method only.
|
|
turn_acceleration (:ref:`acceleration`): Angular acceleration of
|
|
the robot. Applies to :meth:`.turn` method only.
|
|
stop_type (Stop): Whether to coast, brake, or hold after
|
|
a given command is complete.
|
|
"""
|
|
pass
|
|
|
|
def straight(self, distance):
|
|
"""Drive straight for a given distance.
|
|
|
|
Arguments:
|
|
distance (:ref:`distance`): Distance to travel.
|
|
"""
|
|
pass
|
|
|
|
def turn(self, angle):
|
|
"""Turn in place by a given angle.
|
|
|
|
Arguments:
|
|
angle (:ref:`angle`): Angle of the turn.
|
|
"""
|
|
pass
|
|
|
|
def arc(self, radius, angle):
|
|
"""Drive along an arc with a given radius by a given angle. An arc is
|
|
a segment of a circle.
|
|
|
|
A positive radius value makes your robot go right. A negative radius
|
|
makes it go left.
|
|
|
|
Arguments:
|
|
radius (:ref:`dimension`): Radius of the circle.
|
|
angle (:ref:`angle`): Angle traversed along the circle.
|
|
"""
|
|
pass
|