Documentation
¶
Overview ¶
Package base defines the base that a robot uses to move around. For more information, see the base component docs.
Package base contains a gRPC based base client ¶
Package base contains an enum representing optional base features ¶
Package base contains a gRPC based base service server.
Index ¶
Constants ¶
const SubtypeName = "base"
SubtypeName is a constant that identifies the component resource API string "base".
Variables ¶
var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)
API is a variable that identifies the component resource API.
var ErrGeometriesNil = func(baseName string) error {
return fmt.Errorf("base component %v Geometries should not return nil geometries", baseName)
}
ErrGeometriesNil is the returned error if base geometries are nil.
Functions ¶
func Named ¶
func Named(name string) resource.Name
Named is a helper for getting the named Base's typed resource name.
func NamesFromRobot ¶
func NamesFromRobot(r robot.Robot) []string
NamesFromRobot is a helper for getting all base names from the given Robot.
func NewRPCServiceServer ¶ added in v0.2.36
func NewRPCServiceServer(coll resource.APIResourceCollection[Base]) interface{}
NewRPCServiceServer constructs a base gRPC service server. It is intentionally untyped to prevent use outside of tests.
func PropertiesToProtoResponse ¶ added in v0.2.50
func PropertiesToProtoResponse(
features Properties,
) (*pb.GetPropertiesResponse, error)
PropertiesToProtoResponse takes a map of features to struct and converts it to a GetPropertiesResponse.
Types ¶
type Base ¶
type Base interface {
resource.Resource
resource.Actuator
resource.Shaped
// MoveStraight moves the robot straight a given distance at a given speed.
// If a distance or speed of zero is given, the base will stop.
// This method blocks until completed or cancelled.
MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error
// Spin spins the robot by a given angle in degrees at a given speed.
// If a speed of 0 the base will stop.
// Given a positive speed and a positive angle, the base turns to the left (for built-in RDK drivers).
// This method blocks until completed or cancelled.
Spin(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error
// Set the power of the base.
// For linear power, positive Y moves forwards for built-in RDK drivers.
// For angular power, positive Z turns to the left for built-in RDK drivers.
SetPower(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error
// Set the velocity of the base.
// linear is in mmPerSec (positive Y moves forwards for built-in RDK drivers).
// angular is in degsPerSec (positive Z turns to the left for built-in RDK drivers).
SetVelocity(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error
// Properties returns the width, turning radius, and wheel circumference of the physical base in meters.
Properties(ctx context.Context, extra map[string]interface{}) (Properties, error)
}
A Base represents a physical base of a robot. For more information, see the base component docs.
MoveStraight example:
myBase, err := base.FromRobot(machine, "my_base")
// Move the base forward 40 mm at a velocity of 90 mm/s.
myBase.MoveStraight(context.Background(), 40, 90, nil)
// Move the base backward 40 mm at a velocity of -90 mm/s.
myBase.MoveStraight(context.Background(), 40, -90, nil)
For more information, see the MoveStraight method docs.
Spin example:
myBase, err := base.FromRobot(machine, "my_base")
// Spin the base 10 degrees at an angular velocity of 15 deg/sec.
myBase.Spin(context.Background(), 10, 15, nil)
For more information, see the Spin method docs.
SetPower example:
myBase, err := base.FromRobot(machine, "my_base")
// Make your wheeled base move forward. Set linear power to 75%.
logger.Info("move forward")
err = myBase.SetPower(context.Background(), r3.Vector{Y: .75}, r3.Vector{}, nil)
// Make your wheeled base move backward. Set linear power to -100%.
logger.Info("move backward")
err = myBase.SetPower(context.Background(), r3.Vector{Y: -1}, r3.Vector{}, nil)
// Make your wheeled base spin left. Set angular power to 100%.
logger.Info("spin left")
err = myBase.SetPower(context.Background(), r3.Vector{}, r3.Vector{Z: 1}, nil)
// Make your wheeled base spin right. Set angular power to -75%.
logger.Info("spin right")
err = myBase.SetPower(context.Background(), r3.Vector{}, r3.Vector{Z: -.75}, nil)
For more information, see the SetPower method docs.
SetVelocity example:
myBase, err := base.FromRobot(machine, "my_base")
// Set the linear velocity to 50 mm/sec and the angular velocity to 15 deg/sec.
myBase.SetVelocity(context.Background(), r3.Vector{Y: 50}, r3.Vector{Z: 15}, nil)
For more information, see the SetVelocity method docs.
Properties example:
myBase, err := base.FromRobot(machine, "my_base")
// Get the width and turning radius of the base
properties, err := myBase.Properties(context.Background(), nil)
// Get the width
myBaseWidth := properties.WidthMeters
// Get the turning radius
myBaseTurningRadius := properties.TurningRadiusMeters
// Get the wheel circumference
myBaseWheelCircumference := properties.WheelCircumferenceMeters
For more information, see the Properties method docs.
func FromDependencies ¶
func FromDependencies(deps resource.Dependencies, name string) (Base, error)
FromDependencies is a helper for getting the named base from a collection of dependencies.
func FromRobot ¶
func FromRobot(r robot.Robot, name string) (Base, error)
FromRobot is a helper for getting the named base from the given Robot.
func NewClientFromConn ¶
func NewClientFromConn(
ctx context.Context,
conn rpc.ClientConn,
remoteName string,
name resource.Name,
logger logging.Logger,
) (Base, error)
NewClientFromConn constructs a new Client from connection passed in.
type Properties ¶ added in v0.2.50
type Properties struct {
TurningRadiusMeters float64
WidthMeters float64
WheelCircumferenceMeters float64
}
Properties is a structure representing features of a base.
func ProtoFeaturesToProperties ¶ added in v0.2.50
func ProtoFeaturesToProperties(resp *pb.GetPropertiesResponse) Properties
ProtoFeaturesToProperties takes a GetPropertiesResponse and returns an equivalent Properties struct.
Source Files
Directories
¶
| Path | Synopsis |
|---|---|
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Package fake implements a fake base.
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Package fake implements a fake base. |
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Package kinematicbase contains wrappers that augment bases with information needed for higher level control over the base
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Package kinematicbase contains wrappers that augment bases with information needed for higher level control over the base |
|
Package register registers all relevant bases
|
Package register registers all relevant bases |
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Package sensorcontrolled base implements a base with feedback control from a movement sensor
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Package sensorcontrolled base implements a base with feedback control from a movement sensor |
|
Package wheeled implements some bases, like a wheeled base.
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Package wheeled implements some bases, like a wheeled base. |