set_velocity()¶

Set the linear and rotational velocities of the robot. With this function, you can move the robot to any direction simultanously. If a new command is launched while one is running, the old command will be overwritten by the new one.

Reference¶

Arguments¶

Arguments	Type	Default value
x_velocity	`float`		Forward (positive) or backward (negative) velocity, in meters per second [m/s].
y_velocity	`float`		Lateral left (positive) or right (negative) velocity, in meters per second [m/s].
angular_velocity	`float`		Rotational velocity. Positive: left. Negative: right.
duration	`float`		Time (in seconds) to move at the selected velocity. The value must be positive
ang_unit	`ANGLE_UNIT`	`ANGLE _UNIT.DEGREES`	unit of measurement for angle (DEGREES or RADIANS).
callback_feedback	`Callable`	`None`	Callable function for feedback (optional).
callback_finish	`Callable`	`None`	Callable function for finish (optional).
wait	`bool`	`False`	Boolean indicating whether to wait for user response (optional).

Return¶

None

Exceptions¶

RayaWrongArgument
RayaNotValidMotionCommand

See the complete list of motion exceptions.

Usage Example¶

...

class RayaApplication(RayaApplicationBase):

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

    async def loop(self):
     ....
        await motion.set_velocity(
                x_velocity=1.0,
                y_velocity=0.0,
                angular_velocity=0.0,
                duration=1.0,
                wait=True
            )
      ...

    async def finish(self):
      ...

See the Motion example to check some valid uses.