robot

Documentation

Index

• type ChassisSpeedLevel
• type DeviceType
  • func (d DeviceType) String() string
• type FunctionType
  • func (f FunctionType) String() string
  • func (f FunctionType) Valid() bool
• type Robot
  • func New(ub unitybridge.UnityBridge, l *logger.Logger, cm *connection.Connection) (*Robot, error)
  • func (r *Robot) BatteryPowerPercent() uint8
  • func (r *Robot) ChassisSpeedLevel() (ChassisSpeedLevel, error)
  • func (r *Robot) Devices() []DeviceType
  • func (r *Robot) EnableFunction(ft FunctionType, enable bool) error
  • func (r *Robot) HasDevice(device DeviceType) bool
  • func (r *Robot) SetChassisSpeedLevel(speedLevel ChassisSpeedLevel) error
  • func (r *Robot) SetSpeakerVolume(volume uint8) error
  • func (r *Robot) SpeakerVolume() (uint8, error)
  • func (r *Robot) Stop() error
  • func (r *Robot) WaitForDevices(timeout time.Duration) bool

Types

type ChassisSpeedLevel

type ChassisSpeedLevel int8

ChassisSpeedLevel represents the speed level of the chassis.

const (
	// ChassisSpeedLevelFast is the fast speed level.
	ChassisSpeedLevelFast ChassisSpeedLevel = iota
	// ChassisSpeedLevelMedium is the medium speed level.
	ChassisSpeedLevelMedium
	// ChassisSpeedLevelSlow is the slow speed level.
	ChassisSpeedLevelSlow
	// ChassisSpeedLevelCustom is the custom speed level. This enables
	// individually setting speeds for each direction/axis. This is not
	// supported yet.
	//
	// TODO(bga): Add support for this.
	ChassisSpeedLevelCustom
	ChassisSpeedLevelTypeCount
)

type DeviceType

type DeviceType int16

DeviceType is the type of a device connected to the robot.

const (
	DeviceTypeImageTransmission DeviceType = 256
	DeviceTypeCamera            DeviceType = 260
	DeviceTypeChassis           DeviceType = 768
	DeviceTypeBattery           DeviceType = 778
	DeviceTypeESC0              DeviceType = 788
	DeviceTypeESC1              DeviceType = 789
	DeviceTypeESC2              DeviceType = 790
	DeviceTypeESC3              DeviceType = 791
	DeviceTypeServo1            DeviceType = 792
	DeviceTypeServo2            DeviceType = 793
	DeviceTypeServo3            DeviceType = 794
	DeviceTypeServo4            DeviceType = 795
	DeviceTypeArm               DeviceType = 798
	DeviceTypeGripper           DeviceType = 799 // TODO(bga): Verify.
	DeviceTypeGimbal            DeviceType = 1024
	DeviceTypeTOF1              DeviceType = 4609
	DeviceTypeTOF2              DeviceType = 4610
	DeviceTypeTOF3              DeviceType = 4611
	DeviceTypeTOF4              DeviceType = 4612
	DeviceTypeSensorAdapter1    DeviceType = 5633
	DeviceTypeSensorAdapter2    DeviceType = 5634
	DeviceTypeSensorAdapter3    DeviceType = 5635
	DeviceTypeSensorAdapter4    DeviceType = 5636
	DeviceTypeSensorAdapter5    DeviceType = 5637
	DeviceTypeSensorAdapter6    DeviceType = 5638
	DeviceTypeWaterGun          DeviceType = 5888
	DeviceTypeInfraredGun       DeviceType = 5889
	DeviceTypeBackArmor         DeviceType = 6145
	DeviceTypeFrontArmor        DeviceType = 6146
	DeviceTypeLeftArmor         DeviceType = 6147
	DeviceTypeRightArmor        DeviceType = 6148
	DeviceTypeLeftHeadArmor     DeviceType = 6149
	DeviceTypeRightHeadArmor    DeviceType = 6150
)

func (DeviceType) String

func (d DeviceType) String() string

type FunctionType

type FunctionType uint8

const (
	FunctionTypeBlooded FunctionType = iota + 2
	FunctionTypeMovementControl
	FunctionTypeGunControl
	FunctionTypeOffControlFunction
	FunctionTypeCount
)

func (FunctionType) String

func (f FunctionType) String() string

func (FunctionType) Valid

func (f FunctionType) Valid() bool

type Robot

type Robot struct {
	*internal.BaseModule
	// contains filtered or unexported fields
}

Robot is the module that controls the robot. It provides methods to generally set it up.

func New

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

New creates a new Robot instance.

func (*Robot) BatteryPowerPercent

func (r *Robot) BatteryPowerPercent() uint8

BatteryPowerPercent returns the current battery power percent.

func (*Robot) ChassisSpeedLevel

func (r *Robot) ChassisSpeedLevel() (ChassisSpeedLevel, error)

ChassisSpeedLevel returns the current chassis speed level.

func (*Robot) Devices

func (r *Robot) Devices() []DeviceType

Devices returns the list of working devices (i.e. devices connected to the robot and that are reported as working).

func (*Robot) EnableFunction

func (r *Robot) EnableFunction(ft FunctionType, enable bool) error

EnableFunction enables or disables the given function. This keeps track of previoudly enabled/didabled functions and always sends the full list with the current status of all functions to the Unity Bridge.

func (*Robot) HasDevice

func (r *Robot) HasDevice(device DeviceType) bool

HasFunction returns true if the given device is connected to the robot and is reported as working.

func (*Robot) SetChassisSpeedLevel

func (r *Robot) SetChassisSpeedLevel(speedLevel ChassisSpeedLevel) error

SetChassisSpeedLevel sets the chassis speed level.

func (*Robot) SetSpeakerVolume

func (r *Robot) SetSpeakerVolume(volume uint8) error

SetSpeakerVolume sets the speaker volume.

func (*Robot) SpeakerVolume

func (r *Robot) SpeakerVolume() (uint8, error)

SpeakerVolume returns the current speaker volume.

func (*Robot) Stop

func (r *Robot) Stop() error

Stop stops the Robot module.

func (*Robot) WaitForDevices

func (r *Robot) WaitForDevices(timeout time.Duration) bool

WaitForDevices waits for the robot to report devices as working. Returns true if an actual result was obtained and false otherwise (i.e. timeout).