drivetrain.Drivetrain Class Reference

Config Drivetrain: motors and wheels that move a robot. More...

Public Member Functions
def	__init__ (self, left_motor, right_motor, wheel_travel_mm=200, track_mm=176)
def	wheel_travel (self, wheel_travel_mm)
	Wheel travel (circumference) in mm. More...
def	wheel_track (self, distance_mm)
	Distance between left and right wheels in mm. More...
def	drive (self, power, distance_mm=None)
	Begin driving in a straight line. More...
def	drive_until (self, power, distance_mm)
	Drive in a straight line until the distance is reached. More...
def	turn (self, power, angle_deg=None)
	Begin turning by a given angle, positive to turn left, negative to turn right. More...
def	turn_until (self, power, angle_deg)
	Turn by a given angle, positive to turn left, negative to turn right. More...
def	arcade (self, drive_power, turn_power)
	Arcade drive given two axes of a controller. More...
def	off (self)
	Turn off both motors. More...
def	brake (self)
	Brake both motors. More...
def	hold (self)
	Hold both motors. More...
def	reached_target (self)
	True if both motors reached their target (turn or drive finished). More...
def	stall_timeout (self, duration_sec=None)
	Get or set the stall detection timeout (in seconds) More...
def	stalled (self)
	True if one motor has stalled, and the other either reached target or stalled (as specified by stall_timeout()) More...
def	reached_target_or_stalled (self)
	True if both motors reached their target or stalled (as specified by stall_timeout()) More...

Detailed Description

Config Drivetrain: motors and wheels that move a robot.

Parameters

left_motor	Motor driving the left wheel
right_motor	Motor driving the right wheel
travel_mm	Wheel travel (circumference) in mm, default 200mm
track_mm	Distance between left and right wheels in mm, default 176mm

Constructor & Destructor Documentation

__init__()

def drivetrain.Drivetrain.__init__	(		self,
			left_motor,
			right_motor,
			wheel_travel_mm = 200,
			track_mm = 176
	)

Member Function Documentation

wheel_travel()

def drivetrain.Drivetrain.wheel_travel	(		self,
			wheel_travel_mm
	)

Wheel travel (circumference) in mm.

wheel_track()

def drivetrain.Drivetrain.wheel_track	(		self,
			distance_mm
	)

Distance between left and right wheels in mm.

drive()

def drivetrain.Drivetrain.drive	(		self,
			power,
			distance_mm = None
	)

Begin driving in a straight line.

Parameters

power	-100.0...100.0 (percent power).
distance_mm	distance in mm, negative to go backwards.

drive_until()

def drivetrain.Drivetrain.drive_until	(		self,
			power,
			distance_mm
	)

Drive in a straight line until the distance is reached.

Parameters

power	-100.0...100.0 (percent power).
distance_mm	distance in mm, negative to go backwards.

Returns

True if the drivetrain reached the target, False if stalled

turn()

def drivetrain.Drivetrain.turn	(		self,
			power,
			angle_deg = None
	)

Begin turning by a given angle, positive to turn left, negative to turn right.

Parameters

power	-100.0...100.0 (percent power).
angle_deg	angle in degrees, positive to turn left, negative to turn right.

turn_until()

def drivetrain.Drivetrain.turn_until	(		self,
			power,
			angle_deg
	)

Turn by a given angle, positive to turn left, negative to turn right.

Parameters

power	-100.0...100.0 (percent power).
angle_deg	angle in degrees, positive to turn left, negative to turn right.

Returns

True if the drivetrain reached the target, False if stalled

arcade()

def drivetrain.Drivetrain.arcade	(		self,
			drive_power,
			turn_power
	)

Arcade drive given two axes of a controller.

off()

def drivetrain.Drivetrain.off

(

self

)

Turn off both motors.

brake()

def drivetrain.Drivetrain.brake

(

self

)

Brake both motors.

hold()

def drivetrain.Drivetrain.hold

(

self

)

Hold both motors.

reached_target()

def drivetrain.Drivetrain.reached_target

(

self

)

True if both motors reached their target (turn or drive finished).

stall_timeout()

def drivetrain.Drivetrain.stall_timeout	(		self,
			duration_sec = None
	)

Get or set the stall detection timeout (in seconds)

stalled()

def drivetrain.Drivetrain.stalled

(

self

)

True if one motor has stalled, and the other either reached target or stalled (as specified by stall_timeout())

reached_target_or_stalled()

def drivetrain.Drivetrain.reached_target_or_stalled

(

self

)

True if both motors reached their target or stalled (as specified by stall_timeout())