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124 lines
4.0 KiB
Python
124 lines
4.0 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 .parameters import Stop
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from .builtins import 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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"""Start 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, stop_type=Stop.HOLD):
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"""Stop the robot.
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Arguments:
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stop_type (Stop): Whether to coast, brake, or hold.
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"""
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pass
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def distance(self):
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"""Get 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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"""Get 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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"""Get 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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"""Reset 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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"""Configure 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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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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"""Drive straight for a given distance and then stop.
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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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"""Turn in place by a given angle and then stop.
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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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