base

Documentation

Overview

Package base defines the base that a robot uses to move around.

Package base contains a gRPC based base client

Package base contains an enum representing optional base features

Package base contains a gRPC based arm service server.

Index

• Constants
• Variables
• func CreateStatus(ctx context.Context, b Base) (*commonpb.ActuatorStatus, error)
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewRPCServiceServer(coll resource.APIResourceCollection[Base]) interface{}
• func PropertiesToProtoResponse(features Properties) (*pb.GetPropertiesResponse, error)
• type Base
  • func FromDependencies(deps resource.Dependencies, name string) (Base, error)
  • func FromRobot(r robot.Robot, name string) (Base, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (Base, error)
• type Properties
  • func ProtoFeaturesToProperties(resp *pb.GetPropertiesResponse) Properties

Constants

const SubtypeName = "base"

SubtypeName is a constant that identifies the component resource API string "base".

Variables

var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)

API is a variable that identifies the component resource API.

Functions

func CreateStatus

func CreateStatus(ctx context.Context, b Base) (*commonpb.ActuatorStatus, error)

CreateStatus creates a status from the base.

func Named

func Named(name string) resource.Name

Named is a helper for getting the named Base's typed resource name.

func NamesFromRobot

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all base names from the given Robot.

func NewRPCServiceServer

func NewRPCServiceServer(coll resource.APIResourceCollection[Base]) interface{}

NewRPCServiceServer constructs a base gRPC service server. It is intentionally untyped to prevent use outside of tests.

func PropertiesToProtoResponse

func PropertiesToProtoResponse(
	features Properties,
) (*pb.GetPropertiesResponse, error)

PropertiesToProtoResponse takes a map of features to struct and converts it to a GetPropertiesResponse.

Types

type Base

type Base interface {
	resource.Resource
	resource.Actuator
	resource.Shaped

	// MoveStraight moves the robot straight a given distance at a given speed.
	// If a distance or speed of zero is given, the base will stop.
	// This method blocks until completed or cancelled.
	MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error

	// Spin spins the robot by a given angle in degrees at a given speed.
	// If a speed of 0 the base will stop.
	// Given a positive speed and a positive angle, the base turns to the left (for built-in RDK drivers).
	// This method blocks until completed or cancelled.
	Spin(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error

	// Set the power of the base.
	// For linear power, positive Y moves forwards for built-in RDK drivers.
	// For angular power, positive Z turns to the left for built-in RDK drivers.
	SetPower(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error

	// Set the velocity of the base.
	// linear is in mmPerSec (positive Y moves forwards for built-in RDK drivers).
	// angular is in degsPerSec (positive Z turns to the left for built-in RDK drivers).
	SetVelocity(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error

	// Properties returns the width, turning radius, and wheel circumference of the physical base in meters.
	Properties(ctx context.Context, extra map[string]interface{}) (Properties, error)
}

A Base represents a physical base of a robot.

MoveStraight example:

myBase, err := base.FromRobot(machine, "my_base")
// Move the base forward 40 mm at a velocity of 90 mm/s.
myBase.MoveStraight(context.Background(), 40, 90, nil)

// Move the base backward 40 mm at a velocity of -90 mm/s.
myBase.MoveStraight(context.Background(), 40, -90, nil)

Spin example:

myBase, err := base.FromRobot(machine, "my_base")

// Spin the base 10 degrees at an angular velocity of 15 deg/sec.
myBase.Spin(context.Background(), 10, 15, nil)

SetPower example:

myBase, err := base.FromRobot(machine, "my_base")

// Make your wheeled base move forward. Set linear power to 75%.
logger.Info("move forward")
err = myBase.SetPower(context.Background(), r3.Vector{Y: .75}, r3.Vector{}, nil)

// Make your wheeled base move backward. Set linear power to -100%.
logger.Info("move backward")
err = myBase.SetPower(context.Background(), r3.Vector{Y: -1}, r3.Vector{}, nil)

// Make your wheeled base spin left. Set angular power to 100%.
logger.Info("spin left")
err = myBase.SetPower(context.Background(), r3.Vector{}, r3.Vector{Z: 1}, nil)

// Make your wheeled base spin right. Set angular power to -75%.
logger.Info("spin right")
err = mybase.SetPower(context.Background(), r3.Vector{}, r3.Vector{Z: -.75}, nil)

SetVelocity example:

myBase, err := base.FromRobot(machine, "my_base")

// Set the linear velocity to 50 mm/sec and the angular velocity to 15 deg/sec.
myBase.SetVelocity(context.Background(), r3.Vector{Y: 50}, r3.Vector{Z: 15}, nil)

Properties example:

myBase, err := base.FromRobot(machine, "my_base")

// Get the width and turning radius of the base
properties, err := myBase.Properties(context.Background(), nil)

// Get the width
myBaseWidth := properties.WidthMeters

// Get the turning radius
myBaseTurningRadius := properties.TurningRadiusMeters

// Get the wheel circumference
myBaseWheelCircumference := properties.WheelCircumferenceMeters

func FromDependencies

func FromDependencies(deps resource.Dependencies, name string) (Base, error)

FromDependencies is a helper for getting the named base from a collection of dependencies.

func FromRobot

func FromRobot(r robot.Robot, name string) (Base, error)

FromRobot is a helper for getting the named base from the given Robot.

func NewClientFromConn

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger logging.Logger,
) (Base, error)

NewClientFromConn constructs a new Client from connection passed in.

type Properties

type Properties struct {
	TurningRadiusMeters      float64
	WidthMeters              float64
	WheelCircumferenceMeters float64
}

Properties is a structure representing features of a base.

func ProtoFeaturesToProperties

func ProtoFeaturesToProperties(resp *pb.GetPropertiesResponse) Properties

ProtoFeaturesToProperties takes a GetPropertiesResponse and returns an equivalent Properties struct.