Protobuf prototype

client_s1/docs/source/lib/Odom.rst

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+.. _lib_odom:
+
+Odometry
+********
+
+Class Documentation
+====================
+
+.. autoclass:: compLib.Odom.Odometry
+   :members:
+
+.. autoclass:: compLib.Odom.Odom
+   :members:
+
+
+Examples
+=========
+
+Getting actual distance driven
+------------------------------
+
+.. code-block:: python
+
+   import time
+   import math
+   from compLib.Motor import Motor
+   from compLib.Encoder import Encoder
+   from compLib.Odom import Odom, Odometry
+
+    # distance in meters
+    # speed in % of max speed
+    def drive_example(distance, speed):
+        Odom.update()
+        odom = Odom.get_odom()
+        while abs(odom.get_x()) < distance:
+            Odom.update()
+            odom = Odom.get_odom()
+
+            Motor.power(4, speed)
+            Motor.power(1, -speed)
+
+        print(f" Forward: {odom.get_x()} m")
+        print(f" Right: {odom.get_y()} m")
+        print(f" Turned: {math.degrees(odom.get_orientation())} degrees")
+
+        Motor.active_break(1)
+        Motor.active_break(4)
+        time.sleep(0.1)
+        Encoder.clear_all()
+        Odom.clear()