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Tutorial

If you had 2 Large motors, and one gyroscope, you would start your program like this:

from imagine import myRobot
r = myRobot(motorL="outB", motorR="outC", gyroPort="in4") # Provided that these are the ports

If you wanted to move forward using the gyro measured in rotations, you could write it as simply as this:

r.forward(speed=100, distance=2, useRots=True) # Parameter names not necessary

If you wanted it to have a correction multiplier of 3x, just pass it as a parameter.

r.forward(..., correction=3)

Let's say you want to stop your robot. Just call the stop function, with brake as a parameter.

r.stop(brake=True) # True if you want to stop the robot in place, False if you just want to cut the power to the motors.

You want to turn using the Gyro. Just use the turn function:

r.turn(way=90, speed=5) # If way is float, the desired facing direction will be the current heading +/- way

The Gyro is drifting. Calling the nodrift function will fix that in 0.2 seconds. (if the robot is standstill)

r.nodrift() # Can pass t (time for calibration) as argument, default is 0.2s

You want to write your own built-in functions. Just use self and the default properties for the sensors, and you're good to go. For example:

def rotate(self, rots, speed): # Turns completely, for a rotation of the LEFT motor
  initMotors = self.motorL.position/360
  while self.motorL.position/360 < initMotors+rots:
    self.motorL.on(speed) # Set Left motor to on
    self.motorR.on(-speed) # Set Right motor to negative speed
  self.stop() # Stops all motors.

This is just a rough example, but using the self declarations, you can literally program any function, and calling it will look great. Calling the above function from a brand new file is as simple as this:

from imagine import myRobot
r = myRobot("outB", "outC", gyroPort="in1")

r.rotate(1, 40) # Rotate completely

See? If you wanted to write the above function using raw ev3dev2, this would be the same:

from ev3dev2.motor import LargeMotor
from ev3dev2.sensors.lego import GyroSensor

leftMotor = LargeMotor("outB")
rightMotor = LargeMotor("outC")
gyroSensor = GyroSensor("in1")

def rotate(rots, speed): # Turns completely, for a rotation of the LEFT motor
  initMotors = leftMotor.position/360
  while leftMotor.position/360 < initMotors+rots:
    leftMotor.on(speed) # Set Left motor to on
    rightMotor.on(-speed) # Set Right motor to negative speed
  leftMotor.stop() # Stops left motor
  rightMotor.stop() # Stops right motor

rotate(1, 40)

If you have any questions, feel free to message me on Discord at KePeterZ#4679 and I'll be sure to help you out ASAP!

KePeterZ, 2020