controller

Documentation

Index

• type Controller
  • func New(ub unitybridge.UnityBridge, l *logger.Logger, cm *connection.Connection) (*Controller, error)
  • func (c *Controller) Move(chassisStick *StickPosition, gimbalStick *StickPosition, m Mode) error
  • func (c *Controller) SetMode(m Mode) error
• type Mode
  • func (m Mode) String() string
  • func (m Mode) Valid() bool
• type StickPosition
  • func (s *StickPosition) InterpolatedX() uint64
  • func (s *StickPosition) InterpolatedY() uint64

Types

type Controller

type Controller struct {
	*internal.BaseModule
}

Controller is the robot's main controller interface. It is also responsibe for movement using the dual stick interface.

func New

func New(ub unitybridge.UnityBridge, l *logger.Logger,
	cm *connection.Connection) (*Controller, error)

New creates a new Controller instance.

func (*Controller) Move

func (c *Controller) Move(chassisStick *StickPosition,
	gimbalStick *StickPosition, m Mode) error

Move moves the robot using the given stick positions and control mode.

func (*Controller) SetMode

func (c *Controller) SetMode(m Mode) error

SetMode sets the controller mode for the robot.

type Mode

type Mode uint8

Mode is the type of control mode for the robot.

const (
	// ModeFPV enables the dual stick controller type.
	ModeFPV Mode = iota
	// ModeSDK enables the SDK controller type.
	ModeSDK
)

func (Mode) String

func (m Mode) String() string

func (Mode) Valid

func (m Mode) Valid() bool

type StickPosition

type StickPosition struct {
	X float64
	Y float64
}

func (*StickPosition) InterpolatedX

func (s *StickPosition) InterpolatedX() uint64

func (*StickPosition) InterpolatedY

func (s *StickPosition) InterpolatedY() uint64