limo

Documentation

Overview

Package limo implements the AgileX Limo base

Index

• Constants
• func CreateLimoBase(ctx context.Context, config *Config, logger golog.Logger) (base.LocalBase, error)
• type Config

Constants

const (
	DIFFERENTIAL = steeringMode(iota)
	ACKERMANN
	OMNI
)

valid steering modes for limo.

Functions

func CreateLimoBase

func CreateLimoBase(ctx context.Context, config *Config, logger golog.Logger) (base.LocalBase, error)

CreateLimoBase returns a AgileX limo base.

Types

type Config

type Config struct {
	DriveMode    string `json:"drive_mode"`
	SerialDevice string `json:"serial_path"` // path to /dev/ttyXXXX file

	// TestChan is a fake "serial" path for test use only
	TestChan chan []uint8 `json:"-"`
}

Config is how you configure a limo base.