Documentation ¶
Overview ¶
Package armremotecontrol implements a remote control for a arm.
Index ¶
Constants ¶
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const (
SubtypeName = resource.SubtypeName("arm_remote_control") // resource name
)
constants, joints are constants till we can can get joint name from model.
Variables ¶
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var Name = resource.NameFromSubtype(Subtype, "")
Name is the ArmRemoteControlService's typed resource name.
View Source
var Subtype = resource.NewSubtype( resource.ResourceNamespaceRDK, resource.ResourceTypeService, SubtypeName, )
Subtype is a constant that identifies the remote control resource subtype.
Functions ¶
func New ¶
func New(ctx context.Context, r robot.Robot, config config.Service, logger golog.Logger) (interface{}, error)
New returns a new remote control service for the given robot.
func WrapWithReconfigurable ¶
func WrapWithReconfigurable(s interface{}) (resource.Reconfigurable, error)
WrapWithReconfigurable wraps a ArmRemoteControl as a Reconfigurable.
Types ¶
type ControllerMode ¶
type ControllerMode struct { ModeName mode `json:"mode_name"` ControlMapping map[string]input.Control `json:"control_mapping"` }
ControllerMode supports mapping in joint or endpoint configuration.
type ServiceConfig ¶
type ServiceConfig struct { ArmName string `json:"arm"` InputControllerName string `json:"input_controller"` JointStep float64 `json:"joint_step,omitempty"` // scale Joint movement in degrees (defaults to 10) DegreeStep float64 `json:"degree_step,omitempty"` // scale roll, pitch, yaw default 0.1 MMStep float64 `json:"mm_step,omitempty"` // scale x, y, z in millimeters (deafaults to 5) ControllerSensitivity float64 `json:"controller_sensitivity"` // joystick sensitivity // only respond to events where: abs(+-1) - sensitivity > 0 ControllerModes []ControllerMode `json:"controller_modes"` // modes of operation for arm (joint or endpoint/pose control) }
ServiceConfig describes how to configure the service.
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