baseremotecontrol

Documentation

Overview

Package baseremotecontrol implements a remote control for a base.

Index

• Constants
• Variables
• func New(ctx context.Context, r robot.Robot, config config.Service, logger golog.Logger) (interface{}, error)
• func WrapWithReconfigurable(s interface{}) (resource.Reconfigurable, error)
• type Config

Constants

const (
	SubtypeName = resource.SubtypeName("base_remote_control")
)

Constants for the system including the max speed and angle (TBD: allow to be set as config vars) as well as the various control modes including oneJoystick (control via a joystick), triggerSpeed (triggers control speed and joystick angle), button (four buttons X, Y, A, B to control speed and angle) and arrow (arrows buttons used to control speed and angle).

Variables

var Name = resource.NameFromSubtype(Subtype, "")

Name is the BaseRemoteControlService's typed resource name.

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 BaseRemoteControl as a Reconfigurable.

Types

type Config

type Config struct {
	BaseName            string  `json:"base"`
	InputControllerName string  `json:"input_controller"`
	ControlModeName     string  `json:"control_mode"`
	MaxAngularVelocity  float64 `json:"max_angular"`
	MaxLinearVelocity   float64 `json:"max_linear"`
}

Config describes how to configure the service.