Documentation
¶
Overview ¶
Package builtin implements a remote control for a base.
Index ¶
Constants ¶
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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 ¶
This section is empty.
Functions ¶
func NewBuiltIn ¶
func NewBuiltIn( ctx context.Context, deps registry.Dependencies, 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.
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