mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 09:37:25 +00:00
Laurens Valk
dd39a2e00f
Make arc a non-blocking function similar to drive. This allows users to drive the robot along an arc until a sensor (e.g. color) is triggered, instead of relying on the rotation sensors only. This also lets us simplify the language of some other method docstrings.
107 lines
3.3 KiB
Python
107 lines
3.3 KiB
Python
"""Robotics module for the Pybricks API."""
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from .parameters import Stop
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class DriveBase():
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"""Class representing a robotic vehicle with two powered wheels and
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optional wheel caster(s)."""
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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, speed, steering):
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"""Start driving at the specified speed and turn rate, both measured at
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the center point between the wheels of the robot.
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Arguments:
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speed (:ref:`linspeed`): Forward speed of the robot.
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steering (:ref:`speed`): Turn rate of the robot.
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"""
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pass
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def arc(self, speed, radius):
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"""Start driving along an arc/circle with a given radius.
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Arguments:
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drive_speed (:ref:`linspeed`): Speed of the robot along the arc.
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radius (:ref:`dimension`): Radius of the arc. A positive radius
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value makes your robot go right. A negative radius value makes
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it go left.
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"""
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pass
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def stop(self, stop_type=Stop.COAST):
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"""stop(stop_type=Stop.COAST)
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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 (*Default*:
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:class:`Stop.COAST <.parameters.Stop>`).
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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 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 set_drive_settings(self, drive_speed, drive_acceleration, turn_rate,
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turn_acceleration, stop_type):
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"""Configure the default speed and acceleration.
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Arguments:
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drive_speed (:ref:`linspeed`): Drive speed of the robot.
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drive_acceleration (:ref:`linacceleration`): Linear acceleration
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of the robot.
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turn_rate (:ref:`speed`): Turn rate of the robot.
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turn_acceleration (:ref:`acceleration`): Angular acceleration of
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the robot.
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stop_type (Stop): Whether to coast, brake, or hold after
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a given command is complete.
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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.
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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.
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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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