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wheel_values.md

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WheelValues

from wheelchair_replicant.wheel_values import WheelValues

Wheel values for a move or turn action.

Fields

  • brake_at The distance or angle at which to start braking.

  • brake_torque The torque that will be applied to the rear wheels at the end of the action.

  • left_motor_torque The torque that will be applied to the left rear wheel at the start of the action.

  • right_motor_torque The torque that will be applied to the right rear wheel at the start of the action.

  • steer_angle The steer angle in degrees that will applied to the front wheels at the start of the action.

Functions

__init__

WheelValues(brake_at, brake_torque, left_motor_torque, right_motor_torque, steer_angle)

Parameter Type Default Description
brake_at float The distance or angle at which to start braking.
brake_torque float The torque that will be applied to the rear wheels at the end of the action.
left_motor_torque float The torque that will be applied to the left rear wheel at the start of the action.
right_motor_torque float The torque that will be applied to the right rear wheel at the start of the action.
steer_angle float The steer angle in degrees that will applied to the front wheels at the start of the action.

get_default_values

self.get_default_values()

Returns: Wheel values, all set at 0.

get_turn_values

self.get_turn_values(angle, arrived_at)

Parameter Type Default Description
angle float The target angle in degrees.
arrived_at float The arrived-at threshold in degrees.

Returns: Wheel values for a turn action.

get_move_values

self.get_move_values(distance)

Parameter Type Default Description
distance float The target distance in meters.

Returns: Wheel values for a move action.