rotate()
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rotate()
- 1 Minute to read
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Rotate the robot (left or right).
Reference
Arguments
| Arguments | Type | Default value | |
|---|---|---|---|
| angle | float | The angle of movement. Positive values will rotate the robot left, and negative values will rotate the robot to the right | |
| angular_speed | float | Rotational velocity[d/s]. Value must be positive | |
| 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. |
| ang_unit | ANGLE_UNIT | ANGLE_UNIT.DEGREES | unit of measurement for angle (DEGREES or RADIANS). |
Return
None
Exceptions
RayaWrongArgumentRayaAlreadyMoving
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 self.motion.rotate(
angle=-1.5708,
angular_speed=0.349,
ang_unit=ANG_UNIT.RAD,
callback_finish=self.cb_motion_finished
)
...
async def finish(self):
...
See the Motion example to check some valid uses.
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