pybricks.robotics: Add GyroDriveBase.

This is a variant that uses the gyro for steering.

This makes it easier to configure compared to specifying even more
kwargs. This also lets you toggle between drive bahaviors by just
changing the class name in your script, so you can determine what
works best for a robot.

Since this can be completely disabled on hubs without a gyro, the reduced number of parameters also reduces move hub build size a bit.

Author: laurensvalk

CHANGELOG.md

@@ -9,9 +9,8 @@
   not calibrate properly ([support#1026]).
 - Fixed discrepancy in heading value across hubs by accounting for sampling
   time ([support#1022]).
-
-[support#1026]: https://github.com/pybricks/support/issues/1022
-[support#1026]: https://github.com/pybricks/support/issues/1026
+- Fixed iterator for `Matrix` objects giving bad values.
+- Fixed Bluetooth sometimes locking up on Technic/City hubs ([support#567]).
 
 ### Added
 - Added `pybricks.geometry.cross(a, b)` to get a vector cross product.
@@ -21,16 +20,23 @@
   required, or even undesired.
 - Added `hub.imu.ready()` to check that the IMU has been calibrated and is
   ready for use.
+- Added `GyroDriveBase` class to control drivebase steering with the gyro.
 - Added optional `window` parameter to `Motor.speed` to specify the
   differentiation window size that determines the average speed. This lets the
   user choose smaller values to get a more responsive (but noisier) or higher
   values to get a smoother (but more delayed) speed signal.
 
+### Removed
+- Removed `positive_direction` from `DriveBase` initializer. This was
+  temporarily added in the previous beta release to facilitate gyro support,
+  but made it more complicated than needed ([support#992]).
+
 ### Fixed
-- Fixed iterator for `Matrix` objects giving bad values.
-- Fixed Bluetooth sometimes locking up on Technic/City hubs ([support#567]).
 
 [support#567]: https://github.com/pybricks/support/issues/567
+[support#992]: https://github.com/pybricks/support/issues/992
+[support#1022]: https://github.com/pybricks/support/issues/1022
+[support#1026]: https://github.com/pybricks/support/issues/1026
 
 ## [3.3.0b3] - 2023-03-28
 

bricks/cityhub/mpconfigport.h

@@ -36,6 +36,7 @@
 #define PYBRICKS_PY_PARAMETERS_ICON             (0)
 #define PYBRICKS_PY_PUPDEVICES                  (1)
 #define PYBRICKS_PY_ROBOTICS                    (1)
+#define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (0)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (0)
 #define PYBRICKS_PY_TOOLS                       (1)
 

bricks/essentialhub/mpconfigport.h

@@ -37,6 +37,7 @@
 #define PYBRICKS_PY_PARAMETERS_ICON             (0)
 #define PYBRICKS_PY_PUPDEVICES                  (1)
 #define PYBRICKS_PY_ROBOTICS                    (1)
+#define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (1)
 #define PYBRICKS_PY_TOOLS                       (1)
 

bricks/movehub/mpconfigport.h

@@ -32,6 +32,7 @@
 #define PYBRICKS_PY_PARAMETERS_ICON             (0)
 #define PYBRICKS_PY_PUPDEVICES                  (1)
 #define PYBRICKS_PY_ROBOTICS                    (1)
+#define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (0)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (0)
 #define PYBRICKS_PY_TOOLS                       (1)
 

bricks/nxt/mpconfigport.h

@@ -38,6 +38,7 @@
 #define PYBRICKS_PY_PARAMETERS_ICON             (0)
 #define PYBRICKS_PY_PUPDEVICES                  (0)
 #define PYBRICKS_PY_ROBOTICS                    (1)
+#define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (0)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (0)
 #define PYBRICKS_PY_TOOLS                       (1)
 

bricks/primehub/mpconfigport.h

@@ -38,6 +38,7 @@
 #define PYBRICKS_PY_PARAMETERS_ICON             (1)
 #define PYBRICKS_PY_PUPDEVICES                  (1)
 #define PYBRICKS_PY_ROBOTICS                    (1)
+#define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (1)
 #define PYBRICKS_PY_TOOLS                       (1)
 

bricks/technichub/mpconfigport.h

@@ -36,6 +36,7 @@
 #define PYBRICKS_PY_PARAMETERS_ICON             (0)
 #define PYBRICKS_PY_PUPDEVICES                  (1)
 #define PYBRICKS_PY_ROBOTICS                    (1)
+#define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (0)
 #define PYBRICKS_PY_TOOLS                       (1)
 

pybricks/robotics.h

@@ -15,7 +15,15 @@
 #include "pybricks/util_mp/pb_obj_helper.h"
 
 extern const mp_obj_type_t pb_type_drivebase;
+
+#if PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO
+extern const mp_obj_type_t pb_type_gyrodrivebase;
+#endif
+
+#if PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE
 extern const mp_obj_type_t pb_type_spikebase;
+#endif
+
 
 #endif // PYBRICKS_PY_ROBOTICS
 

pybricks/robotics/pb_module_robotics.c

@@ -11,7 +11,10 @@ STATIC const mp_rom_map_elem_t robotics_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR___name__),    MP_ROM_QSTR(MP_QSTR_robotics)   },
     #if PYBRICKS_PY_COMMON_MOTORS
     { MP_ROM_QSTR(MP_QSTR_DriveBase),   MP_ROM_PTR(&pb_type_drivebase)  },
-    #if (PYBRICKS_HUB_PRIMEHUB || PYBRICKS_HUB_ESSENTIALHUB)
+    #if PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO
+    { MP_ROM_QSTR(MP_QSTR_GyroDriveBase),   MP_ROM_PTR(&pb_type_gyrodrivebase)  },
+    #endif
+    #if PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE
     { MP_ROM_QSTR(MP_QSTR_SpikeBase),   MP_ROM_PTR(&pb_type_spikebase)  },
     #endif
     #endif

pybricks/robotics/pb_type_drivebase.c

@@ -15,6 +15,7 @@
 
 #include <pybricks/common.h>
 #include <pybricks/parameters.h>
+#include <pybricks/robotics.h>
 
 #include <pybricks/util_mp/pb_kwarg_helper.h>
 #include <pybricks/util_mp/pb_obj_helper.h>
@@ -53,36 +54,22 @@ STATIC mp_obj_t pb_type_DriveBase_make_new(const mp_obj_type_t *type, size_t n_a
         PB_ARG_REQUIRED(left_motor),
         PB_ARG_REQUIRED(right_motor),
         PB_ARG_REQUIRED(wheel_diameter),
-        PB_ARG_REQUIRED(axle_track),
-        PB_ARG_DEFAULT_OBJ(positive_direction, pb_Direction_CLOCKWISE_obj),
-        PB_ARG_DEFAULT_FALSE(use_gyro));
+        PB_ARG_REQUIRED(axle_track));
 
     pb_type_DriveBase_obj_t *self = mp_obj_malloc(pb_type_DriveBase_obj_t, type);
 
-    // REVISIT: Allow angle getter callable on any platform.
-    bool use_gyro = mp_obj_is_true(use_gyro_in);
-    #if !PBIO_CONFIG_IMU
-    if (use_gyro) {
-        pb_assert(PBIO_ERROR_NOT_SUPPORTED);
-    }
-    #endif
-    pbio_direction_t positive_direction = pb_type_enum_get_value(positive_direction_in, &pb_enum_type_Direction);
-    // REVISIT: Gyro is currently only compatible with counterclockwise drivebase.
-    if (use_gyro && positive_direction != PBIO_DIRECTION_COUNTERCLOCKWISE) {
-        pb_assert(PBIO_ERROR_INVALID_ARG);
-    }
-
     // Pointers to servos
     pbio_servo_t *srv_left = ((common_Motor_obj_t *)pb_obj_get_base_class_obj(left_motor_in, &pb_type_Motor))->srv;
     pbio_servo_t *srv_right = ((common_Motor_obj_t *)pb_obj_get_base_class_obj(right_motor_in, &pb_type_Motor))->srv;
 
     // Create drivebase
     pb_assert(pbio_drivebase_get_drivebase(&self->db,
-        positive_direction == PBIO_DIRECTION_CLOCKWISE ? srv_left : srv_right,
-        positive_direction == PBIO_DIRECTION_CLOCKWISE ? srv_right : srv_left,
+        srv_left,
+        srv_right,
         pb_obj_get_scaled_int(wheel_diameter_in, 1000),
         pb_obj_get_scaled_int(axle_track_in, 1000),
-        use_gyro));
+        // Use gyro if creating instance of GyroDriveBase.
+        type != &pb_type_drivebase));
 
     #if PYBRICKS_PY_COMMON_CONTROL
     // Create instances of the Control class
@@ -339,4 +326,18 @@ const mp_obj_type_t pb_type_drivebase = {
     .locals_dict = (mp_obj_dict_t *)&pb_type_DriveBase_locals_dict,
 };
 
+#if PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO
+// type(pybricks.robotics.GyroDriveBase)
+const mp_obj_type_t pb_type_gyrodrivebase = {
+    { &mp_type_type },
+    .name = MP_QSTR_GyroDriveBase,
+    .make_new = pb_type_DriveBase_make_new,
+    #if PYBRICKS_PY_COMMON_CONTROL
+    .attr = pb_attribute_handler,
+    .protocol = pb_type_DriveBase_attr_dict,
+    #endif
+    .locals_dict = (mp_obj_dict_t *)&pb_type_DriveBase_locals_dict,
+};
+#endif // PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO
+
 #endif // PYBRICKS_PY_ROBOTICS && PYBRICKS_PY_COMMON_MOTORS