Class BaseClient

A gRPC-web client for the Base component.

Implements

Base

Index

Constructors

Properties

client name options

Accessors

Methods

doCommand getProperties isMoving moveStraight setPower setVelocity spin stop

Constructors

constructor

new BaseClient(client, name, options?): BaseClient
Parameters
- client: RobotClient
- name: string
- options: Options = {}
Returns BaseClient

Properties

`Private` client

client: BaseServiceClient

`Private` `Readonly` name

name: string

`Private` `Readonly` options

options: Options

Accessors

`Private` baseService

get baseService(): BaseServiceClient
Returns BaseServiceClient

Methods

doCommand

doCommand(command): Promise<StructType>
Parameters
- command: StructType
Returns Promise<StructType>
Implementation of Base.doCommand

getProperties

getProperties(extra?): Promise<baseApi.GetPropertiesResponse.AsObject>
Return the base's properties.
Parameters
- extra: {} = {}
Returns Promise<baseApi.GetPropertiesResponse.AsObject>
Implementation of Base.getProperties

isMoving

isMoving(): Promise<boolean>
Return true if the base is in motion.

Returns Promise<boolean>
Implementation of Base.isMoving

moveStraight

moveStraight(distanceMm, mmPerSec, extra?): Promise<void>
Move a base in a straight line by a given distance at a given speed. This method blocks until completed or cancelled.
Parameters
- distanceMm: number
  Distance to move, in millimeters.
- mmPerSec: number
  Movement speed, in millimeters per second.
- extra: {} = {}
Returns Promise<void>
Implementation of Base.moveStraight

setPower

setPower(linear, angular, extra?): Promise<void>
Set the linear and angular power of a base from -1 to 1 in terms of power for each direction.
Parameters
- linear: commonApi.Vector3.AsObject
  Desired linear power percentage from -1 to 1.
- angular: commonApi.Vector3.AsObject
  Desired angular power percentage from -1 to 1.
- extra: {} = {}
Returns Promise<void>
Implementation of Base.setPower

setVelocity

setVelocity(linear, angular, extra?): Promise<void>
Set the linear and angular velocity of a base.
Parameters
- linear: commonApi.Vector3.AsObject
  Desired linear velocity in millimeters per second.
- angular: commonApi.Vector3.AsObject
  Desired angular velocity in degrees per second.
- extra: {} = {}
Returns Promise<void>
Implementation of Base.setVelocity

spin

spin(angleDeg, degsPerSec, extra?): Promise<void>
Spin a base by a given angle at a given angular speed. This method blocks until completed or cancelled.
Parameters
- angleDeg: number
  Degrees to spin.
- degsPerSec: number
  Angular speed, in degrees per second.
- extra: {} = {}
Returns Promise<void>
Implementation of Base.spin

stop

stop(extra?): Promise<void>
Stop a base
Parameters
- extra: {} = {}
Returns Promise<void>
Implementation of Base.stop

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