Base API

The base API allows you to give commands to your base components for moving all configured components attached to a platform as a whole without needing to send commands to individual components.

The base component supports the following methods:

API

MoveStraight

Move the base in a straight line across the given distance (mm) at the given velocity (mm/sec).

Parameters:

• distance ( int) (required): The distance (in millimeters) to move. Negative implies backwards.
• velocity ( float) (required): The velocity (in millimeters per second) to move. Negative implies backwards.
• extra (Mapping[ str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• None.

Spin

Turn the base in place, rotating it to the given angle (degrees) at the given angular velocity (degrees/sec).

Parameters:

• angle ( float) (required): The angle (in degrees) to spin.
• velocity ( float) (required): The angular velocity (in degrees per second) to spin. Given a positive angle and a positive velocity, the base will turn to the left.
• extra (Mapping[ str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• None.

SetPower

Set the linear and angular power of the base, represented as a percentage of max power for each direction in the range of [-1.0 to 1.0].

Parameters:

• linear ( viam.components.base.Vector3) (required): The linear component. Only the Y component is used for wheeled base. Positive implies forwards.
• angular ( viam.components.base.Vector3) (required): The angular component. Only the Z component is used for wheeled base. Positive turns left; negative turns right.
• extra (Mapping[ str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• None.

SetVelocity

Set the linear velocity (mm/sec) and angular velocity (degrees/sec) of the base.

Parameters:

• linear ( viam.components.base.Vector3) (required): Velocity in mm/sec.
• angular ( viam.components.base.Vector3) (required): Velocity in deg/sec.
• extra (Mapping[ str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• None.

GetProperties

Get the width and turning radius of the model of base in meters.

Parameters:

• extra (Mapping[ str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• ( viam.components.base.Base.Properties): : The properties of the base.

IsMoving

Returns whether the base is actively moving (or attempting to move) under its own power.

Parameters:

• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• ( bool): : Whether the base is moving.

Stop

Stop the base from moving immediately.

Parameters:

Returns:

• None.

GetGeometries

Get all the geometries associated with the base in its current configuration, in the frame of the base.

Parameters:

Returns:

• ( List[viam.proto.common.Geometry]): : The geometries associated with the Component.

Reconfigure

Reconfigure this resource.

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
• deps (Dependencies): The resource dependencies.
• conf (Config): The resource configuration.

Returns:

• (error): An error, if one occurred.

DoCommand

Execute model-specific commands that are not otherwise defined by the component API.

Parameters:

• command (Mapping[ str, ValueTypes]) (required): The command to execute.
• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (Mapping[ str, viam.utils.ValueTypes]): : Result of the executed command.

GetResourceName

Get the ResourceName for this base.

Parameters:

• name ( str) (required): The name of the Resource.

Returns:

• ( viam.proto.common.ResourceName): : The ResourceName of this Resource.

Close

Safely shut down the resource and prevent further use.

Parameters:

• None.

Returns:

• None.