MotionService
Extends:
Provides a very abstract way to control and estimate robot position
Method Summary
| Public Methods | ||
| public |
go(tunedPoint: TunedPoint, parameters: Object): Promise Move the robot, set new position of the robot |
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| public |
rotate(tunedAngle: TunedAngle, options: Object): Promise Rotate robot for an angle |
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| public |
Stop the robot |
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| public |
Move robot forward or backward depending on param |
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| Private Methods | ||
| private |
_goSingleTarget(point: misc.Point, params: Object): Promise Go to single point without advanced features |
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Public Methods
public go(tunedPoint: TunedPoint, parameters: Object): Promise source
Move the robot, set new position of the robot
Params:
| Name | Type | Attribute | Description |
| tunedPoint | TunedPoint | Point that should be reached |
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| parameters | Object |
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Configuration options. |
| parameters.pf | Boolean |
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Use terrain finding algorithm. |
| parameters.backward | Boolean |
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Set backward robot moving. |
| parameters.rerouting | Boolean |
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Enable rerouting during the movement. |
| parameters.relative | Boolean |
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Use relative to previous position. |
| parameters.tolerance | Number |
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Position will consider as reached if Euclid's distance between current and required position is less than tolerance. |
| parameters.speed | Number |
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Speed of the robot movement in range (0, 255). |
| parameters.obstacle | Number |
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Time [ms] after command will be rejected (with TaskError.action === 'obstacle') if obstacle is detected in hazard region |
| parameters.friend | Number |
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Time [ms] after command will be rejected (with TaskError.action === 'friend') if friend is detected in hazard region |
public rotate(tunedAngle: TunedAngle, options: Object): Promise source
Rotate robot for an angle
Params:
| Name | Type | Attribute | Description |
| tunedAngle | TunedAngle | Angle to rotate |
|
| options | Object | Additional options |
public stop(softStop: Boolean): * source
Stop the robot
Params:
| Name | Type | Attribute | Description |
| softStop | Boolean | If true robot will turn of motors |
Return:
| * |
public straight(millimeters: Number, params: Object): Promise source
Move robot forward or backward depending on param millimeters