Configure a Two-Wheeled Base (viam-micro-server)

A two_wheeled_base base supports mobile robotic bases with drive motors on both sides (differential steering). Only bases with two drive wheels are supported by this viam-micro-server model.

Configure a two_wheeled_base base as follows:

{
  "components": [
    {
      "name": "<your-base-name>",
      "model": "two_wheeled_base",
      "type": "base",
      "namespace": "rdk",
      "attributes": {
        "left": "<your-left-motor-name>",
        "right": "<your-right-motor-name>"
      }
    }
  ]
}

{
  "components": [
    {
      "name": "my-wheeled-base",
      "model": "two_wheeled_base",
      "type": "base",
      "namespace": "rdk",
      "attributes": {
        "left": "leftm",
        "right": "rightm"
      },
      "depends_on": []
    }, ... <INSERT LEFT AND RIGHT MOTOR CONFIGS>
  ]
}

The following attributes are available for two_wheeled_base bases:

Test the base

After you configure the base, open the base’s TEST panel on the CONFIGURE or CONTROL tabs to view the controls to enable keyboard or discrete control over your machine’s movement.

In the Quick move section, you can toggle the keyboard control to active. With the Keyboard toggle active, use W and S to go forward and back, and A and D to arc and spin.

Try driving your base around using the WASD keyboard controls.

You can also move straight or spin from the base panel.

If you do not see the base card in the TEST panel, check the LOGS tab for possible setup or configuration errors.