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Clarify base coordinate system in comments #324

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Merged
merged 2 commits into from
Jun 26, 2023
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Clarify base coordinate system in comments #324

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Clarify base coordinate system in comments
JessamyT Jun 16, 2023
adc4e53
Update src/viam/components/base/base.py
JessamyT Jun 21, 2023
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8 changes: 4 additions & 4 deletions src/viam/components/base/base.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
velocity (float): The angular velocity (in degrees per second)
to spin.
Given a positive angle and a positive velocity, the base will turn to the left.
"""
...

Expand All @@ -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.
"""
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