rotate()¶

Rotate the robot (left or right).

Reference¶

Arguments¶

Arguments	Type	Default value
angle	`float`		The angle of movement. Positive values will rotate the robot left, and negative values will rotate the robot to the right
angular_speed	`float`		Rotational velocity[d/s]. Value must be positive
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.
ang_unit	`ANGLE_UNIT`	`ANGLE _UNIT.DEGREES`	unit of measurement for angle (DEGREES or RADIANS).

Return¶

None

Exceptions¶

RayaWrongArgument
RayaAlreadyMoving

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 self.motion.rotate(
                angle=-1.5708,
                angular_speed=0.349,
                ang_unit=ANG_UNIT.RAD,
                callback_finish=self.cb_motion_finished
            )
      ...

    async def finish(self):
      ...

See the Motion example to check some valid uses.