Prerequisites

API (Application Programming Interface), also known as application programming interface function, is a predefined function. You need to import the API library before using it.

• After the terminal switches to the target directory, enter the python command:

    cd ~/catkin_ws/src/mc_embodied_kit_ros/tracer_bringup/scripts
    python
  

• Import chassis control API library

    from chassis_controller import ChassisController
  

• Simple use

    # Example
    from chassis_controller import ChassisController
  
    cc = ChassisController()
  
    # Forward, backward
    cc.move_forward(0.5, 2) # Forward 2 seconds, speed is 0.5 m/s
    cc.move_backward(-0.5, 2) # Backward 2 seconds, speed is -0.5 m/s
    # Stop the car
    cc.stop()
  

Python API usage instructions

1 move_forward(speed, duration)

• function: Forward, default movement 1 second

• Parameters:

  • speed: Forward speed, range is 0.0 ~ 0.5 m/s.
  • duration: Movement duration, positive integer, unit: seconds.

2 move_backward(speed, duration)

• function: Backward, default movement 1 second

• Parameters:

  • speed: Backward speed, range is -0.5 ~ 0 m/s.
  • duration: Movement duration, positive integer, unit: seconds.

3 turn_left(speed, duration)

• function: Turn left, default movement 1 second

• Parameters:

  • speed: Movement speed, range is 0.0 ~ 0.5 m/s.
  • duration: Movement duration, positive integer, unit: seconds.

4 turn_right(speed, duration)

• function: Turn right, default movement 1 second

• Parameters:

  • speed: Movement speed, range -0.5 ~ 0 m/s.
  • duration: Movement duration, positive integer, unit: seconds.

5 stop(speed, duration)

• function: Stop movement

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