builtin

Documentation

Overview

Package builtin implements a remote control for a base.

Index

• Constants
• func NewBuiltIn(ctx context.Context, r robot.Robot, config config.Service, logger golog.Logger) (baseremotecontrol.Service, 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).

Functions

func NewBuiltIn

func NewBuiltIn(ctx context.Context, r robot.Robot, config config.Service, logger golog.Logger) (baseremotecontrol.Service, error)

NewDefault returns a new remote control service for the given robot.

Types

type Config

type Config struct {
	BaseName            string  `json:"base"`
	InputControllerName string  `json:"input_controller"`
	ControlModeName     string  `json:"control_mode,omitempty"`
	MaxAngularVelocity  float64 `json:"max_angular_deg_per_sec,omitempty"`
	MaxLinearVelocity   float64 `json:"max_linear_mm_per_sec,omitempty"`
}

Config describes how to configure the service.