Drive#

rc.drive

Copyright MIT MIT License

BWSI Autonomous RACECAR Course Racecar Neo LTS

File Name: drive.py File Description: Defines the interface of the Drive module of the racecar_core library.

class drive.Drive#
abstract set_max_speed(max_speed: float = 0.25) → None#

Sets the maximum throttle in the forward and backward direction.

Parameters:

max_speed – The scale factor applied to speed inputs, ranging from 0.0 to 1.0.

Warning

The RACECAR contains expensive and fragile equipment. Please only increase the max speed if you are in a safe environment without the potential for hard collisions.

Example:

# Update the max speed to 0.5
rc.set_max_speed(0.5)
abstract set_speed_angle(speed: float, angle: float) → None#

Sets the throttle applied to the back wheels and the angle of the front wheels.

Parameters:

  • speed – The amount of throttle (torque) applied to the back wheels from -1.0 (full backward) to 1.0 (full forward).

  • angle – The amount to turn the front wheels from -1.0 (full left) to 1.0 (full right).

Note

The speed and angle arguments are unitless ratios.

Example:

if counter < 1:
    # Drive straight forward at full speed
    rc.drive.set_speed_angle(1, 0)
elif counter < 2:
    # Drive reverse at full speed with the wheels pointing fully to the left
    rc.drive.set_speed_angle(-1, -1)
else:
    # Drive 70% to the right at half speed forward
    rc.drive.set_speed_angle(0.5, 0.7)
stop() → None#

Brings the car to a stop and points the front wheels forward.

Note

stop is equivalent to rc.drive.set_speed_angle(0, 0)

Example:

# Stops the car if the counter is greater than 5
if counter > 5:
    rc.drive.stop()