fake

Documentation

Overview

Package fake implements a fake base.

Index

• func NewBase(ctx context.Context, conf resource.Config) (base.LocalBase, error)
• type Base
  • func (b *Base) Close(ctx context.Context) error
  • func (b *Base) IsMoving(ctx context.Context) (bool, error)
  • func (b *Base) MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, ...) error
  • func (b *Base) SetPower(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error
  • func (b *Base) SetVelocity(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error
  • func (b *Base) Spin(ctx context.Context, angleDeg, degsPerSec float64, ...) error
  • func (b *Base) Stop(ctx context.Context, extra map[string]interface{}) error
  • func (b *Base) Width(ctx context.Context) (int, error)
  • func (b *Base) WrapWithKinematics(ctx context.Context, slamSvc slam.Service) (base.KinematicBase, error)

Functions

func NewBase

func NewBase(ctx context.Context, conf resource.Config) (base.LocalBase, error)

NewBase instantiates a new base of the fake model type.

Types

type Base

type Base struct {
	resource.Named
	resource.TriviallyReconfigurable
	CloseCount int
	// contains filtered or unexported fields
}

Base is a fake base that returns what it was provided in each method.

func (*Base) Close

func (b *Base) Close(ctx context.Context) error

Close does nothing.

func (*Base) IsMoving

func (b *Base) IsMoving(ctx context.Context) (bool, error)

IsMoving always returns false.

func (*Base) MoveStraight

func (b *Base) MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error

MoveStraight does nothing.

func (*Base) SetPower

func (b *Base) SetPower(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error

SetPower does nothing.

func (*Base) SetVelocity

func (b *Base) SetVelocity(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error

SetVelocity does nothing.

func (*Base) Spin

func (b *Base) Spin(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error

Spin does nothing.

func (*Base) Stop

func (b *Base) Stop(ctx context.Context, extra map[string]interface{}) error

Stop does nothing.

func (*Base) Width

func (b *Base) Width(ctx context.Context) (int, error)

Width returns some arbitrary width.

func (*Base) WrapWithKinematics

func (b *Base) WrapWithKinematics(ctx context.Context, slamSvc slam.Service) (base.KinematicBase, error)

WrapWithKinematics creates a KinematicBase from the fake Base so that it satisfies the ModelFramer and InputEnabled interfaces.