move_linear()
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move_linear()
- 1 Minute to read
Article summary
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Move the robot in linear direction, for a given distance [meters].
Reference
Arguments
| Arguments | Type | Default value | |
|---|---|---|---|
| distance | float | The distance of movement, in meters [m]. Distance must be positive. | |
| x_velocity | float | x velocity, in meters per second [m/s] | |
| y_velocity | float | 0.0 | y velocity, in meters per second [m/s] |
| callback_feedback | Callable | None | Callable function for feedback (optional). |
| callback_finish | Callable | None | Callable function for finish (optional). |
| wait | bool | false | Wait until the movement finishes before moving to the next line of code. |
Return
None
Exceptions
RayaWrongArgumentRayaAlreadyMovingRayaNotValidMotionCommand
See the complete list of motion exceptions.
Usage Example
Move forward 2 meters (1 meter/second velocity) and wait until it finish moving those 2 meters before moving to the next line of code:
...
class RayaApplication(RayaApplicationBase):
async def setup(self):
self.motion = await self.enable_controller('motion')
....
async def loop(self):
....
await motion.move_linear(distance = 2, x_velocity=1.0, wait=True)
...
async def finish(self):
...
See the Motion example to check some valid uses.
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