wheeled

Documentation

Overview

Package wheeled implements some bases, like a wheeled base.

Index

• func CreateWheeledBase(ctx context.Context, deps registry.Dependencies, config *Config, ...) (base.LocalBase, error)
• type Config
  • func (config *Config) Validate(path string) ([]string, error)

Functions

func CreateWheeledBase

func CreateWheeledBase(
	ctx context.Context,
	deps registry.Dependencies,
	config *Config,
	logger golog.Logger,
) (base.LocalBase, error)

CreateWheeledBase returns a new wheeled base defined by the given config.

Types

type Config

type Config struct {
	WidthMM              int      `json:"width_mm"`
	WheelCircumferenceMM int      `json:"wheel_circumference_mm"`
	SpinSlipFactor       float64  `json:"spin_slip_factor,omitempty"`
	Left                 []string `json:"left"`
	Right                []string `json:"right"`
}

Config is how you configure a wheeled base.

func (*Config) Validate

func (config *Config) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.