This method uses a best fit linear approximation of the distance traveled over time. It uses the equation y = mx + b, where:
- y is the distance traveled
- m is the predicted speed in inches per second
- x is the time elapsed
- b is the slope intercept
If the PID values are not set the internal default values will be set.
If the angle is not input Zumi will drive to whatever angle it is currently facing.
move_inches(distance, angle=None, k_p=None, k_i=None, k_d=None)
distance: the distance in inches you want to travel
angle: heading (0 degrees is defined when the Zumi object is created.) Default to None
k_p: P-gain. Default to None.
k_i: I-gain. Default to None.
k_d: D-gain. Default to None.