pybricks.robotics: Move use_gyro to normal DriveBase.

Since we added the use_gyro() method to turn the gyro on and off, we no
longer need a separate GyroDriveBase class.

CHANGELOG.md

@@ -4,6 +4,17 @@
 
 ## [Unreleased]
 
+### Changed
+- The `use_gyro` method is added to the normal `DriveBase` class instead of
+  having a separate `GyroDriveBase` class. Since the latter was only released
+  in beta versions, this is not a breaking change ([support#1054]).
+
+### Fixed
+- Improved external device detection speed ([support#1140]).
+
+[support#1054]: https://github.com/pybricks/support/issues/1054
+[support#1140]: https://github.com/pybricks/support/issues/1140
+
 ## [3.3.0b8] - 2023-07-07
 
 ### Added
@@ -20,13 +31,12 @@
 - Fixed Powered Up Light not working ([support#1131]) on all hubs.
 - Fixed UART sensors not working on Technic Hub ([support#1137]).
 - Fixed incorrect number of ports on City Hub ([support#1131]).
-- Improved external device detection speed ([support#1140]).
 
 [support#1054]: https://github.com/pybricks/support/issues/1054
 [support#1105]: https://github.com/pybricks/support/issues/1105
 [support#1131]: https://github.com/pybricks/support/issues/1131
 [support#1137]: https://github.com/pybricks/support/issues/1137
-[support#1140]: https://github.com/pybricks/support/issues/1140
+
 
 ## [3.3.0b7] - 2023-06-30
 

lib/pbio/src/drivebase.c

@@ -287,7 +287,7 @@ pbio_error_t pbio_drivebase_get_drivebase(pbio_drivebase_t **db_address, pbio_se
     db->right = right;
 
     // By default, don't use gyro.
-    db->use_gyro = false;
+    pbio_drivebase_set_use_gyro(db, false);
 
     // Set parents of both servos, so they can stop this drivebase.
     pbio_parent_set(&left->parent, db, pbio_drivebase_stop_from_servo);

pybricks/robotics.h

@@ -16,10 +16,6 @@
 
 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

pybricks/robotics/pb_module_robotics.c

@@ -11,9 +11,6 @@ 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_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

pybricks/robotics/pb_type_drivebase.c

@@ -67,16 +67,13 @@ STATIC mp_obj_t pb_type_DriveBase_make_new(const mp_obj_type_t *type, size_t n_a
     pbio_servo_t *srv_left = ((pb_type_Motor_obj_t *)pb_obj_get_base_class_obj(left_motor_in, &pb_type_Motor))->srv;
     pbio_servo_t *srv_right = ((pb_type_Motor_obj_t *)pb_obj_get_base_class_obj(right_motor_in, &pb_type_Motor))->srv;
 
-    // Create drivebase
+    // Create drivebase. Initialized to use motor encoders (not gyro) for heading.
     pb_assert(pbio_drivebase_get_drivebase(&self->db,
         srv_left,
         srv_right,
         pb_obj_get_scaled_int(wheel_diameter_in, 1000),
         pb_obj_get_scaled_int(axle_track_in, 1000)));
 
-    // Use gyro if creating instance of GyroDriveBase.
-    pb_assert(pbio_drivebase_set_use_gyro(self->db, type != &pb_type_drivebase));
-
     #if PYBRICKS_PY_COMMON_CONTROL
     // Create instances of the Control class
     self->heading_control = pb_type_Control_obj_make_new(&self->db->control_heading);
@@ -370,7 +367,7 @@ STATIC const mp_rom_map_elem_t pb_type_DriveBase_locals_dict_table[] = {
     #endif
 };
 // First N entries are common to both drive base classes.
-STATIC MP_DEFINE_CONST_DICT_WITH_SIZE(pb_type_DriveBase_locals_dict, pb_type_DriveBase_locals_dict_table, 12);
+STATIC MP_DEFINE_CONST_DICT(pb_type_DriveBase_locals_dict, pb_type_DriveBase_locals_dict_table);
 
 // type(pybricks.robotics.DriveBase)
 MP_DEFINE_CONST_OBJ_TYPE(pb_type_drivebase,
@@ -383,21 +380,4 @@ MP_DEFINE_CONST_OBJ_TYPE(pb_type_drivebase,
     #endif
     locals_dict, &pb_type_DriveBase_locals_dict);
 
-#if PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO
-
-// GyroDriveBase has all methods enabled.
-STATIC MP_DEFINE_CONST_DICT(pb_type_GyroDriveBase_locals_dict, pb_type_DriveBase_locals_dict_table);
-
-// type(pybricks.robotics.GyroDriveBase)
-MP_DEFINE_CONST_OBJ_TYPE(pb_type_gyrodrivebase,
-    MP_QSTR_GyroDriveBase,
-    MP_TYPE_FLAG_NONE,
-    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, &pb_type_GyroDriveBase_locals_dict);
-#endif // PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO
-
 #endif // PYBRICKS_PY_ROBOTICS && PYBRICKS_PY_COMMON_MOTORS