Gyro Drive on Spike Prime�using Python

Installation and�Robot Setup

Pre-Install Requirements

• This presentation assumes you are familiar with this code.
• Before setting up your robot, you should read through all the 2025 Gyro Drive presentations so you are familiar with the terms and code layout.

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Is Python activated?

• If you know Python is activated on your Spike system, skip these steps. �
• Open Spike
• The Spike Prime IDE (Interactive Development Environment) allows you to key in the Python commands�just like any text-based programming�language. You may need to enable it…
• Help, Settings, General, Enable Python
• Click New Project but done’t hit CREATE!
• You should be able to arrow to Python. �It should not be grayed out.

Installation

• The code is released on the MAR-FLL-Director Github account 2025-GyroDrive-Spike-Python
• Once on the page, at the top, you will see a list of items available.
• Click on the file name with the most recent date.
• This stands for Spike Prime Python and the upload date.
• On the right side, look for the Download button
• Click it and download to your Download, or Share folder
• I am only familiar with Windows. If you have Apple, or Chromebook please try it out and let me know what the process is.
• The GitHub window is no longer needed; however, there are links to various presentations.
• These presentation are also available on the FMA FLL website under �FLL Challenge Team Info 2025 MAR FLL Challenge Tools - Gyro Drive Spike Python

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Open Program

• Start up the Spike application
• Windows:
• Upper left corner click File, Open.
• Navigate to where you saved the spp yy-mm-dd.llsp3 file.
• Click it and the file will open. It will also be copied to your Documents/LEGO Education Spike folder.
• Apple
• I was told this is similar to how Windows works.
• Chromebook
• Need Instructions (please email answer to flarkin@midatlanticrobotics.org)

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Initial Setup

Now that you are in the code, you need to initiate the gyro_drive_settings class with parameters to fit your robot.

• Wheel Diameter
• The actual wheel diameter is just a starting point. We will adjust this to get the robot to work accurately.
• The large wheels are 8.80 cm. The medium are 5.60 cm. We needed to adjust these values to get the best accuracy.
• We landed on 8.85 cm and 5.56 cm. The code is not perfect, but once dialed in, it is very reproducible.

Initial Setup

You need the additional settings after the wheel diameter.

• Left motor port (port.A to port.F)
• Right motor port
• Measure motor port
• Max velocity on the motors (use enum)
• These values are discussed in the Spike Hub Knowledge Base motor section.
• We also have 2 defaulted values
• left_motor_direction = -1
• right_motor_direction = 1
• This is used to flip one motor’s direction so they both go in the same directions when called on. Normally the right is fine but left needs to be flipped.

Testing Driving Accuracy

• Setup your code like we are to the right.
• Use your wheel diameter, ports, and max motor velocity.
• As you add attachments you may need to change your settings for “base case”
• Even if the settings are not perfect the will be reproducible.
• Try not to change the settings once you have a few missions ready. Otherwise you will have to retest.
• You can use the tests.drive_accuracy_test() to test you settings.
• If your code does not have this, type it in. Type tests. and all the methods will show up.
• This will allow you to dial in the distance accuracy.
• Carefully, line up the robot correctly each time.
• Set it up for several (2 or 3) loops so you can be sure you are accurate.
• Make slight changes to the wheels diameter to dial it in.
• Use a low speed like 40% or 50%.
• Once you dial it in try using speeds of 70% and 80%. It should work as acceleration will ramp speed up and slow down.

Testing Driving And Spin Accuracy

• We do support acceleration when driving.
• This will put the robot speed through 3 states, ramp up, steady state, and ramp down.
• There are two settings. You can put them in and then adjust as you go. Look at the settings code for what they do.
• Play with different settings see how they affect the acceleration.�
• You can use tests.spin_to_angle_test() to get you close to the any angles you will want.
• This test will call gyro_spin_to_angle(). It is called to turn your robot to a specific angle. It is also called by gyro_drive to turn to the angle before you move forward or reverse.
• As you test, adjust your spin settings to get it within +/- 1 degree.
• Make sure your heaviest attachments are on the robot for testing.
• Even if the settings are not perfect they will be reproducible.
• Remember when used with the gyro_drive, once the angle is turned, you will drive on that same angle for the length given.

gyro_drive test plot

Here is a plot of a test drive.

• It shows speed in acceleration, steady state, and deceleration.
• It shows angle correction as it is driving.
• Question: Did it accurately hit the target distance at the end?

The circles are plots over time of the readings. In 1.55 sec., there were only 9 plots. We want many more passes for accuracy. This slows it down but useful to see it.

Gyro Drive on Spike Prime�using Python

Good Luck!!!