chassis

Documentation

Index

• type Chassis
  • func New(ub unitybridge.UnityBridge, l *logger.Logger, cm *connection.Connection, ...) (*Chassis, error)
  • func (c *Chassis) Move(leftStick *controller.StickPosition, rightStick *controller.StickPosition, ...) error
  • func (c *Chassis) SetControllerMode(m controller.Mode) error
  • func (c *Chassis) SetMode(m Mode) error
  • func (c *Chassis) SetPosition(m Mode, x, y, z float64) error
  • func (c *Chassis) SetSpeed(m Mode, x, y, z float64) error
  • func (c *Chassis) StopMovement(m Mode) error
• type Mode
  • func (m Mode) String() string
  • func (m Mode) Valid() bool

Types

type Chassis

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

Chassis allows controlling the robot chassis. It also works as the robot main controller interface.

func New

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

New creates a new Chassis instance.

func (*Chassis) Move

func (c *Chassis) Move(leftStick *controller.StickPosition,
	rightStick *controller.StickPosition, m controller.Mode) error

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

func (*Chassis) SetControllerMode

func (c *Chassis) SetControllerMode(m controller.Mode) error

SetControllerMode sets the controller mode for the robot.

func (*Chassis) SetMode

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

SetMode sets the chassis mode for the robot.

func (*Chassis) SetPosition

func (c *Chassis) SetPosition(m Mode, x, y, z float64) error

SetPosition sets the chassis position.

func (*Chassis) SetSpeed

func (c *Chassis) SetSpeed(m Mode, x, y, z float64) error

SetSpeed sets the chassis speed. Limits are [-3.5, 3.5] (m/s) for x and y and [-360, 360] (degrees/s) for z.

func (*Chassis) StopMovement

func (c *Chassis) StopMovement(m Mode) error

StopMovement stops the chassis movement.

type Mode

type Mode int8

const (
	ModeYawFollow Mode = iota
	ModeTank
	ModeFPV
	ModeAngularVelocity
	ModeWayPoint
	ModeNone
)

func (Mode) String

func (m Mode) String() string

func (Mode) Valid

func (m Mode) Valid() bool