PyBricks - Gyro Turn

[achampmax]

Has anyone figured out how to do a Gyro Turn; using the hubs yaw capabilities using PyBricks Blocks whereby you can change the degree and have the robot turn to that degree? Tried building it out but it doesn't seem to work.

[dlech]

Can you share a picture of what you tried? (There is a camera button in the blocks editor for that.)

[laurensvalk]

If your goal is to use it like a 'compass' with fixed degrees, then the trick is to turn by the target degrees, minus the amount you have already turned.

[dss0427]

Interested in this. The team I'm coaching needs a "Turn to Angle" method. For FLL, the robot might bump into mission models and get misaligned. Then when they have the bot turn by a certain angle, it isn't pointed where desired. Does anyone have this implemented? Since the cumulative angle can be > 360 or < -360, you would need to take the modulo. I didn't realize that Python calculates modulo differently for negative angles compared to what I learned in C++.

[dss0427]

My co-coach has the robot, so can't test it, but I think a TurnToAngle() method could be something like the following. I accept any criticism/comments. This will be in our "Robot" class. I wrote the TurnToAngle(), the kids wrote the rest. If it works I'll explain it to the kids and let them write their own version.

    async def Log(this, Text):
        await wait(0)
        # Print out comments
        print('-', Text)

    async def Turn(this, angle, end=Stop.BRAKE):
        start = str(round(this.primeHub.imu.heading(),2))
        startTime = this.stopWatch.time()
        await this.driveBase.turn(angle, then=end)
        await this.Log("Turn "+str(angle)+"° "+start+"° to "+str(round(this.primeHub.imu.heading(),2))+"° - "+str((this.stopWatch.time()-startTime)/1000)+" Seconds")

    async def TurnToAngle(this, angle):
        # Get current heading
        heading = this.primeHub.imu.heading()
        await this.Log(f"TurnToAngle {angle}, Current heading: {heading}")
        heading %= 360
        await this.Log(f"Adjusted heading: {heading}")
        if heading < 0:
            await this.Log(f"ERROR: heading {heading} should be >= 0")
            return
        if heading < angle:
            adjustment = angle - heading
        else:
            adjustment = heading - angle
        await this.Log(f"Adjustment: {adjustment}")
        await this.Turn(adjustment)
        heading = this.primeHub.imu.heading()
        await this.Log(f"Current Heading: {heading}")