Interface Base

Represents a physical base of a robot.

interface Base {
    doCommand: ((command) => Promise<StructType>);
    getProperties(extra?): Promise<baseApi.GetPropertiesResponse.AsObject>;
    isMoving(extra?): Promise<boolean>;
    moveStraight(distanceMm, mmPerSec, extra?): Promise<void>;
    setPower(linear, angular, extra?): Promise<void>;
    setVelocity(linear, angular, extra?): Promise<void>;
    spin(angleDeg, degsPerSec, extra?): Promise<void>;
    stop(extra?): Promise<void>;
}

Hierarchy (view full)

Implemented by

Properties

doCommand: ((command) => Promise<StructType>)

Send/Receive arbitrary commands to the resource.

Type declaration

Methods

  • Return true if the base is in motion.

    Parameters

    Returns Promise<boolean>

  • 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.

    • Optional extra: StructType

    Returns Promise<void>

  • Set the linear and angular power of a base from -1 to 1 in terms of power for each direction.

    Parameters

    Returns Promise<void>

  • Set the linear and angular velocity of a base.

    Parameters

    Returns 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.

    • Optional extra: StructType

    Returns Promise<void>

  • Stop a base

    Parameters

    Returns Promise<void>

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