set_velocity()
- 1 Minute to read
set_velocity()
- 1 Minute to read
Article summary
Did you find this summary helpful?
Thank you for your feedback
Set the linear and rotational velocities of the robot.
With this function, you can move the robot to any direction simultanously.
If a new command is launched while one is running, the old command will be overwritten by the new one.
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. | |
| duration | float | Time (in seconds) to move at the selected velocity. The value must be positive | |
| ang_unit | ANGLE_UNIT | ANGLE_UNIT.DEGREES | unit of measurement for angle (DEGREES or RADIANS). |
| callback_feedback | Callable | None | Callable function for feedback (optional). |
| callback_finish | Callable | None | Callable function for finish (optional). |
| wait | bool | False | Boolean indicating whether to wait for user response (optional). |
Return
None
Exceptions
RayaWrongArgumentRayaNotValidMotionCommand
See the complete list of motion exceptions.
Usage Example
...
class RayaApplication(RayaApplicationBase):
async def setup(self):
self.motion = await self.enable_controller('motion')
....
async def loop(self):
....
await motion.set_velocity(
x_velocity=1.0,
y_velocity=0.0,
angular_velocity=0.0,
duration=1.0,
wait=True
)
...
async def finish(self):
...
See the Motion example to check some valid uses.
Was this article helpful?
.png)