mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 01:24:17 +00:00
David Lechner
31a639f55b
This enables the sphinx doc nitpicky option to detect broken references. Also fix all of the broken references.
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 turnrate, 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 drivebase.
|
|
|
|
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
|