altering angle being targeted when use_gyro is active

[pirsquared]

As I understand it, enabling use_gyro for my DriveBase will affect various methods like curve and straight. For example, when using straight with use_gyro enabled, I'm assuming straight identifies the current heading and maintains that heading with the pid controller.

What I'd like to do is go straight whilst maintaining a heading that isn't exactly the heading at the start of going straight. I can actually do this with the DriveBase.drive method and constantly adjust the turn_rate based on what my current heading is versus my targeted heading. However, the second thing I want to do is use this functionality concurrently with other motors. DriveBase.drive doesn't seem to be awaitable and thus doesn't behave well in the multitask tool.

My request to alter the heading being tracked when use_gyro is enabled is due to the straight method being awaitable.

I accept that I might be thinking about this all incorrectly and am open to any suggestions that allows me to move straight maintaining a specific heading asynchronously.

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I'm noticing that the API methods like run_target are awaitable while track_target are not. What is the reason for this?

[laurensvalk]

I can actually do this with the DriveBase.drive method and constantly adjust the turn_rate based on what my current heading is versus my targeted heading.

I think you're on the right track. If you want to make that approach more similar with the other methods like 'straight' and 'turn', you can make it just so.

For example, you could have a function such as:

async def straight_but_veer_slightly(target_distance, veer_amount):
    start_distance = robot.distance()
    while robot.distance() - start_distance < target_distance:
        robot.drive( ... )  # Use the logic you already made for this
        await wait(10)  # Await briefly to give other tasks a chance to run
    robot.stop()

This function now works similar to straight. I mean similar in the sense that it can be used with multitask in the same way.

If you make your own logic to cancel tasks (such as with race=True), don't forget to call robot.stop() after that, to ensure that the robot does in fact stop if that is what you want.