Drive Commands
rv.forward
|
Command: |
rv.forward() |
|---|---|
|
Command |
rv.forward([distance]) rv.forward(distance, [rate]) rv.forward(distance, rate, speed, [rate]) |
|
Python |
rv.forward(0.5) rv.forward(0.5, “m”) rv.forward(0.5, “m”, 0.22, “m/s”) rv.forward() rv.forward([distance]) rv.forward([distance], [“m”|”units”|”revs”]) rv.forward([distance], [“m”|”units”|”revs”], s.ss) rv.forward([distance], [“m”|”units”|”revs”], s.ss, [“m/s”|”units/s”|”revs/s”]) |
|
Range: |
N/A |
|
Describe: |
RV moves forward a given distance (default 0.75 m). Default distance if specified is in UNIT (grid units). Optional M=meters, UNIT=grid-unit, REV=wheel-revolution.
Default speed is 0.20 m/sec, max is 0.23 m/sec, min is 0.14 m/sec. Speed may be given and specified in meters/second, unit/second, revolutions/second.
|
|
Result: |
Action to make the RV move in a forward direction |
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
rv.forward_time
|
Command: |
.forward_time() |
|---|---|
|
Command |
rv.forward_time([time]) rv.forward_time (time, speed, [rate]) |
|
Python |
rv.forward_time(10) rv.forward_time(10, 0.22, “m/s”) rv.forward_time([TIME]) rv.forward_time([TIME], [SPEED]) rv.forward_time([TIME], [SPEED], [“m/s”|”units/s”|”revs/s”]) |
|
Range: |
N/A |
|
Describe: |
RV moves forward a given distance (default 0.75 m). Default distance if specified is in UNIT (grid units). Optional M=meters, UNIT=grid-unit, REV=wheel-revolution. Default speed is 0.20 m/sec, max is 0.23 m/sec, min is 0.14 m/sec. Speed may be given and specified in meters/second, unit/second, revolutions/second. Default speed unit is meters/second. |
|
Result: |
Action to make the RV move in a forward direction |
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
rv.backward
|
Command: |
.backward() |
|---|---|
|
Command |
rv.backward ([distance]) rv.backward (distance, [rate]) rv.backward(distance, rate, speed, [rate]) |
|
Python |
rv.backward(0.5) rv.backward(0.5, “m”) rv.backward(0.5, “m”, 0.22, “m/s”) rv.backward() rv.backward([distance]) rv.backward([distance], [“m”|”units”|”revs”]) rv.backward([distance], [“m”|”units”|”revs”], s.ss) rv.backward([distance], [“m”|”units”|”revs”], s.ss, [“m/s”|”units/s”|”revs/s”]) |
|
Range: |
N/A |
|
Describe: |
RV moves backward a given distance (default 0.75 m). Default distance if specified is in UNIT (grid units). Optional M=meters, UNIT=grid-unit, REV=wheel-revolution. Default speed is 0.20 m/sec, max is 0.23 m/sec, min is 0.14 m/sec. Speed may be given and specified in meters/second, unit/second, revolutions/second. Default speed unit is meters/second. |
|
Result: |
|
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
rv.backward_time
|
Command: |
.backward_time() |
|---|---|
|
Command |
rv.backward_time([time]) rv.backward_time (time, speed, [rate]) |
|
Python |
rv.backward_time(10) rv.backward_time(10, 0.22, “m/s”) rv.backward_time([TIME]) rv.backward_time([TIME], [SPEED]) rv.backward_time([TIME], [SPEED], [“m/s”|”units/s”|”revs/s”]) |
|
Range: |
N/A |
|
Describe: |
RV moves backward a given distance (default 0.75 m). Default distance if specified is in UNIT (grid units). Optional M=meters, UNIT=grid-unit, REV=wheel-revolution. Default speed is 0.20 m/sec, max is 0.23 m/sec, min is 0.14 m/sec. Speed may be given and specified in meters/second, unit/second, revolutions/second. Default speed unit is meters/second. . |
|
Result: |
Action to make the RV move in a backward direction. |
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
rv.left
|
Command: |
.left() |
|---|---|
|
Command |
rv.left([angle]) rv.left(angle, [unit]) |
|
Python |
rv.left(90) rv.left(ddd, [“degrees”]) rv.left(rrr, [“radians”]) rv.left(ggg, [“grads”]) |
|
Range: |
N/A |
|
Describe: |
Default turn is 90 degrees unless DEGREES, RADIANS, or GRADIANS keyword is present, and then the value is converted internally to degrees format from the specified units. Value given is ranged to a value between 0.0 and 360.0 degrees. The turn will be executed as a SPIN motion. |
|
Result: |
Turn Rover to the LEFT. |
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
rv.right
|
Command: |
.right() |
|---|---|
|
Command |
rv.right([angle]) rv.right(angle, [unit]) |
|
Python |
rv.right(90) rv.right(ddd, [“degrees”]) rv.right(rrr, [“radians”]) rv.right(ggg, [“grads”]) |
|
Range: |
N/A |
|
Describe: |
Default turn is 90 degrees unless “degrees”, “radians”, or “grads” keyword is present, and then the value is converted internally to degrees format from the specified units. Value given is ranged to a value between 0.0 and 360.0 degrees. The turn will be executed as a SPIN motion. . |
|
Result: |
Turn Rover to the RIGHT. |
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
rv.stop
|
Command: |
.stop() |
|---|---|
|
Command |
rv.stop() rv.stop_clear() |
|
Python |
rv.stop() |
|
Range: |
N/A |
|
Describe: |
The RV will stop any current movement immediately. That movement can be resumed from where it left off with a RESUME operation. Any movement commands will cause the queue to flush immediately, and begin the just-posted new movement operation. |
|
Result: |
Stop processing Rover commands from the command queue, and leave pending operations in the queue (immediate action). Queue can be resumed by resume().The RV will stop any current movement immediately. That movement can be resumed from where it left off with a resume() operation. Any movement commands will cause the queue to flush immediately, and begin the just-posted new movement operation. Stop processing Rover commands from the command queue, and flush any pending operations left in the queue (immediate action). |
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
rv.resume()
|
Command: |
.resume() |
|---|---|
|
Command |
rv.resume() |
|
Python |
rv.resume() |
|
Range: |
N/A |
|
Describe: |
Enable processing of Rover commands from the command queue (immediate action), or resume (see rv.stay() operation. |
|
Result: |
Resume operation |
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
rv.stay
|
Command: |
.stay() |
|---|---|
|
Command |
rv.stay([time]) |
|
Python |
rv.stay(5) |
|
Range: |
N/A |
|
Describe: |
Tells RV to "stay" in place for an optionally specified amount of time in seconds. Default is 30.0 seconds. |
|
Result: |
RV stays in position |
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
rv.to_xy
|
Command: |
.to_xy() |
|---|---|
|
Command |
rv.to_xy([x,y]) |
|
Python |
rv.to_xy(1, 1) |
|
Range: |
-327 to +327 for X and Y coordinates |
|
Describe: |
This command controls the movement of Rover on a virtual grid. Default location at start of program execution is (0,0) with Rover facing the positive x-axis. The x and y coordinates match the current grid size (default: 0.1 M/grid unit). Grid size can be changed through grid_m_unit() command The speed parameter is optional.
|
|
Result: |
Moves Rover from current grid location to the specified grid location |
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
rv.to_polar
|
Command: |
.to_polar() |
|---|---|
|
Command |
rv.to_polar([radius, theta]) |
|
Python |
rv.to_polar(5, 30) - r = 5 units, theta = 30 degrees |
|
Range: |
Theta-coordinate: -360 to +360 degrees R-coordinate: -327 to +327 |
|
Describe: |
Moves the RV from its current position to the specified polar position relative to that position. The RV's X/Y position will be updated to reflect the new position. The “r” coordinate matches the current grid size (default: 0.1 M/grid unit). Default location at start of program execution is (0, 0) with Rover facing the positive x-axis. Default unit of theta is Degrees. The speed parameter is optional. |
|
Result: |
Moves Rover from current grid location to the specified grid location. |
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
rv.to_angle
|
Command: |
.to_angle() |
|---|---|
|
Command |
.to_angle([angle]) .to_angle(angle, [unit]) |
|
Python |
rv.to_angle(0) rv.to_angle(rr.rr, [“degrees”|”radians”|”gradians”]) |
|
Range: |
N/A |
|
Describe: |
|
|
Result: |
Spins the RV to the specified angle from current heading. |
|
Type or |
Control Note: This Rover control command is sent and executed in a queue. |
