move_linear()¶

Move the robot in linear direction, for a given distance [meters].

Reference¶

Arguments¶

Arguments	Type	Default value
distance	`float`		The distance of movement, in meters [m]. Distance must be positive.
x_velocity	`float`		x velocity, in meters per second [m/s]
y_velocity	`float`	`0.0`	y velocity, in meters per second [m/s]
ca llback_feedback	`Callable`	`None`	Callable function for feedback (optional).
callback_finish	`Callable`	`None`	Callable function for finish (optional).
wait	`bool`	`false`	Wait until the movement finishes before moving to the next line of code.

Return¶

None

Exceptions¶

RayaWrongArgument
RayaAlreadyMoving
RayaNotValidMotionCommand

See the complete list of motion exceptions.

Usage Example¶

Move forward 2 meters (1 meter/second velocity) and wait until it finish moving those 2 meters before moving to the next line of code:

...

class RayaApplication(RayaApplicationBase):

    async def setup(self):
        self.motion = await self.enable_controller('motion')
        ....

    async def loop(self):
     ....
        await motion.move_linear(distance = 2, x_velocity=1.0, wait=True)
      ...

    async def finish(self):
      ...

See the Motion example to check some valid uses.