Where can I find the acceleration algorithm?

[Beutelin]

Hi everyone,

I've been working with Pybricks for a while and would like to better understand how speed control and acceleration are implemented in the drivebase. Can someone point me to the relevant code or algorithm in the Pybricks sources?

Thanks a lot!

[laurensvalk]

Here is the drive base code: https://github.com/pybricks/pybricks-micropython/blob/master/lib/pbio/src/drivebase.c

Driving is a combination of two controllers: One for heading, and one for distance. Two instances of the same controller are used: https://github.com/pybricks/pybricks-micropython/blob/master/lib/pbio/src/control.c

This is also the same controller that is used for a single motor, so you might want to start here: https://github.com/pybricks/pybricks-micropython/blob/master/lib/pbio/src/servo.c