pbio/drivebase: Reverse turn rate for negative drive speed. #212
Conversation
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@JDwyer009, would you like to give this a try? To try it, download one of the firmware links in the post above. In Pybricks, begin installing the firmware as usual. Instead of choosing a hub on the first dialog, pick "Advanced" and pick the file you just downloaded. Proceed normally and try out the updated Thanks! |
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I feel like this would make things a bit weird when the drive speed is zero. Since zero is neither positive nor negative, it seems arbitrary that when drive speed is zero that the positive rules should apply. And the fact that the requested turn rate would no longer match the turn rate return by So I still think it makes more sense to leave |
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For what it's worth, this variant doesn't have special treatment or siding it one way for the zero case. |
Agreed, so we should close this. Further discussion for other methods is in pybricks/support#1414 |
Changed steering direction with
DriveBase.drive()when reversing. Now, a positive angle or turn rate means the robot travels along a circle to its right. The speed or radius can be negated to travel in reverse along that same circle.See pybricks/support#1191