pybricks.robotics.DriveBase: Document use of gyro.

pybricks · Apr 7, 2023 · dadaab6 · dadaab6
1 parent 6b3808f
commit dadaab6
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/jedi/tests/test_get_signature.py b/jedi/tests/test_get_signature.py
@@ -149,6 +149,7 @@ def _get_constructor_signature(module: str, type: str) -> SignatureHelp:
                 "wheel_diameter: Number",
                 "axle_track: Number",
                 "positive_direction: Direction=Direction.CLOCKWISE",
+                "use_gyro: bool=False",
             ]
         ],
     ),

diff --git a/src/pybricks/robotics.py b/src/pybricks/robotics.py
@@ -59,8 +59,9 @@ def __init__(
         wheel_diameter: Number,
         axle_track: Number,
         positive_direction: Direction = Direction.CLOCKWISE,
+        use_gyro: bool = False,
     ):
-        """DriveBase(left_motor, right_motor, wheel_diameter, axle_track, positive_direction=Direction.CLOCKWISE)
+        """DriveBase(left_motor, right_motor, wheel_diameter, axle_track, positive_direction=Direction.CLOCKWISE, use_gyro=False)
 
         Arguments:
             left_motor (Motor):
@@ -73,6 +74,12 @@ def __init__(
             positive_direction (Direction): Which direction the drive base
                 should turn when you give a positive turn rate or turn
                 angle, viewed from the top.
+            use_gyro (bool): Choose ``True`` to use the internal gyrosope for
+                more accurate turns. This can only be used when
+                the ``positive_direction`` is set to counterclockwise. This is
+                only supported on hubs with an inertial measurement unit (IMU).
+                If you choose ``False`` (the default), turns are measured
+                using the wheel angles.
         """
 
     def drive(self, speed: Number, turn_rate: Number) -> None: