Motion

---

• Synchronous methods
  • is_moving()
  • check_last_exception()
  • get_last_result()
• Asynchronous methods
  • move_linear()
  • rotate()
  • await_until_stop()
  • set_velocity()
  • cancel_motion()
• Exceptions
• Feedbacks
• Enumerations
  • ANGLE_UNIT

1. Overview

This controller allows you to move the robot in any direction that you want.

This controller gives direct movement commands to the robot and it doesn’t include path planning or obstacle avoidance algorithms. Please refer to the Navigation controller if you want to navigate instead of just moving.

2. Using the controller

from raya.application_base import RayaApplicationBase

class RayaApplication(RayaApplicationBase):
      async def setup(self):
         ...
         self.sound = await self.enable_controller('motion')
         ...

The controller class includes a set of methods to control the motion of the robot:

• is_moving()

• check_last_exception()

• get_last_result()

• move_linear()

• rotate()

• set_velocity()

• await_until_stop()

• cancel_motion()

3. Examples

See all Motion examples in the pyraya_examples Github