Motion

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1. Overview

This controller allows you to move the robot in any direction that you want.

This controller gives direct movement commands to the robot and it doesn't include path planning or obstacle avoidance algorithms. Please refer to the Navigation controller if you want to navigate instead of just moving.

2. Using the controller

from raya.application_base import RayaApplicationBase

class RayaApplication(RayaApplicationBase):
    async def setup(self):
        ...
        self.sound = await self.enable_controller('motion')
        ...

The controller class includes a set of methods to control the motion of the robot:

move_linear()
rotate()
set_velocity()
await_until_stop()
cancel_motion()
is_moving()

Reference

Arguments

Arguments	Type	Default value
x_velocity	float		Forward (positive) or backward (negative) velocity, in meters per second [m/s]
y_velocity	float		Lateral left (positive) or right (negative) velocity, in meters per second [m/s]
angular_velocity	float		Rotational velocity. Positive: left. Negative: right. In radians per second [rad/s]
duration	float		Time (in seconds) to move at the selected velocity.
callback	function		If you define a callback, it will be called when the movement finishes.
wait	bool	false	Wait until the movementfinishes before moving to the next line of code

Return

None

3. Example

Motion example

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What's Next

rotate()

Table of contents

1. Overview
2. Using the controller
Reference
3. Example