From 475084bb9146ebd8eb5d23c87eb3ada75754de90 Mon Sep 17 00:00:00 2001 From: JessamyT Date: Thu, 15 Jun 2023 18:41:03 -0700 Subject: [PATCH 1/2] Clarify base coordinate system in comments --- src/viam/components/base/base.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/viam/components/base/base.py b/src/viam/components/base/base.py index 164a94622..eedae500f 100644 --- a/src/viam/components/base/base.py +++ b/src/viam/components/base/base.py @@ -66,9 +66,9 @@ async def spin( Args: angle (float): The angle (in degrees) to spin. - Negative implies backwards. - velocity (float): The angular velocity (in degrees per second). - to spin. Negative implies backwards. + A positive angle is measured in degrees to the left. + velocity (float): The angular velocity (in degrees per second) + to spin. Positive implies turning to the left. """ ... @@ -91,7 +91,7 @@ async def set_power( Args: linear (Vector3): The linear component. Only the Y component is used - for wheeled base. Negative implies backwards. + for wheeled base. Positive implies forwards. angular (Vector3): The angular component. Only the Z component is used for wheeled base. Positive turns left; negative turns right. """ From adc4e53a194e6ac88ca24c5db99f5b2ebf3710ef Mon Sep 17 00:00:00 2001 From: JessamyT <75634662+JessamyT@users.noreply.github.com> Date: Wed, 21 Jun 2023 09:40:46 -0700 Subject: [PATCH 2/2] Update src/viam/components/base/base.py --- src/viam/components/base/base.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/viam/components/base/base.py b/src/viam/components/base/base.py index eedae500f..2189c653f 100644 --- a/src/viam/components/base/base.py +++ b/src/viam/components/base/base.py @@ -66,9 +66,9 @@ async def spin( Args: angle (float): The angle (in degrees) to spin. - A positive angle is measured in degrees to the left. velocity (float): The angular velocity (in degrees per second) - to spin. Positive implies turning to the left. + to spin. + Given a positive angle and a positive velocity, the base will turn to the left. """ ...