Movement

Movement control or in the case of the SDK manual movement control, is essentially a set of methods used in temi's telepresence that allow the user to manually control temi's movement. These movements are explained in further details below.

API Overview

Return	Method	Description
void	skidJoy(float x, float y, boolean smart)	Manually move temi
void	turnBy(int degrees, float speed)	Turn by by a specific degree
void	tiltAngle(int degrees, float speed)	Tilt temi's head to a specific angle
void	tiltBy(int degrees, float speed)	Tilt temi's head to by a specific degree
void	stopMovement()	Stop all movement
boolean	patrol(List<String> locations, boolean nonsotp, int times, int waiting)	Patrol

Interface	Description
OnRobotLiftedListener	Robot lifted listener
OnMovementVelocityChangedListener	Velocity changed of movement listener
OnMovementStatusChangedListener	Status changed listener of movement(skidJoy, turnBy) listener

Methods

skidJoy()

Use this method to manually navigate temi on its' axis in a similat fashion to the way it's done in the video call.

• Parameters

  Parameter	Type	Description
  x	float	float value of distance to cover on temi's x axis. The range of values is from 1-(-)1, where 1 is a complete step forward and -1 is complete step backwards on the axis.
  y	float	float value of distance to cover on temi's y axis. The range of values is from 1-(-)1, where 1 is a complete step forward and -1 is complete step backwards on the axis.
  smart	boolean	Bypass obstacles while moving, supported from version 0.10.79

• Prototype

  void skidJoy(float x, float y);

• Required permissions

  None.

• Support from

  0.10.36

• Recommendation

  • Use the graph below to better understand temi's axis.
  • It's best to use the values 1 and -1 as since values in between will not be noticeable to the untrained eye.
  • It's recommended to give a buffer of at least 500 milliseconds between each command for the best outcome.
  • Backwards speed is lower than forward's since there are less sensors and we want to reduce the risk of damage.

  

• Examples

  • Forward - robot.skidJoy(1,0) for how long as you want it to move forward.
  • Left - robot.skidJoy(0,1) until the robot is facing the direction you want it to move to

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turnBy()

Use this method to manually turn temi's body by a certain degree.

• Parameters

  Parameter	Type	Description
  degrees	int	The degrees you want to temi's body to turn.
  speed	float	[Optional parameter] The coefficient of the maximum speed, the value range is 0~1. Support from 0.10.77.

• Prototype

  void turnBy(int degrees, float speed);

• Required permissions

  None.

• Support from

  0.10.36

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tiltAngle()

Use this method to manually tilt temi's head to a certain degree.

• Parameters

  Parameter	Type	Description
  degrees	int	The degrees you want to temi's head to tilt to.
  speed	float	[Optional parameter] The coefficient of the maximum speed, the value range is 0~1. Support from 0.10.77.

• Prototype

  void tiltAngle(int degrees, float speed);

• Required permissions

  None.

• Support from

  0.10.36

• Notes

  • Take into account that the tilt range is from -25 degrees which means temi is looking all the way down until +55 degrees which means it's looking all the way up.
  • 0 degrees means temi is looking straight ahead.

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tiltBy()

Use this method to manually tilt temi's head by a certain degree.

• Parameters

  Parameter	Type	Description
  degrees	int	The amount of degrees you want to tilt by
  speed	float	[Optional parameter] The coefficient of the maximum speed, the value range is 0~1. Support from 0.10.77.

• Prototype

  void tiltBy(int degrees, float speed);

• Required permissions

  None.

• Support from

  0.10.36

• Notes

  • Take into account that the tilt range is from -25 degrees which means temi is looking all the way down until +55 degrees which means it's looking all the way up.
  • 0 degrees means temi is looking straight ahead.
  • It's recommended to use this method to make small tilt adjustments and not big ones, if you want temi to make bigger adjustments use tiltAngle() instead.

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stopMovement()

Use this method to manually stop temi from moving.

• Prototype

  void stopMovement();

• Notes

  • Use this method to abort any of the actions taken by the methods above.
  • Use this method to stop navigation commands as well.

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patrol()

Use this method to patrol between locations.

• Parameters

  Parameter	Type	Description
  locations	List<String>	at least 3 valid locations, can be duplicated. Home base will be ignored and should not be included.
  nonstop	boolean	[Optional parameter] if set as true, it will just arrive at the position of location, without tilt and turn, and then immediately head to next location. default as false
  times	int	[how many times should it go on the route. 0: infinite, 1: once, and so on.
  waiting	int	[Optional parameter] If [nonstop] is false, the time in seconds it should wait on each location. Range from 3 - 60, default is 3

• Return

  Type	Description
  boolean	true if patrol is executed.

• Prototype

  boolean patrol(List<String> locations, boolean nonsotp, int times, int waiting);

• Required permissions

  None.

• Support from

  1.129.1

Interfaces

OnRobotLiftedListener

Set your context to implement this listener and add the override method to perceive whether the robot is lifted.

Prototype

package com.robotemi.sdk.listeners;

interface OnRobotLiftedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  isLifted	boolean	true means robot is lifted, false otherwise
  reason	String	-

• Prototype

  void onRobotLifted(boolean isLifted, String reason);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnRobotLiftedListener	An instance of a class that implements this interface

• Prototype

  void addOnRobotLiftedListener(OnRobotLiftedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnRobotLiftedListener	An instance of a class that implements this interface

• Prototype

  void removeOnRobotLiftedListener(OnRobotLiftedListener listener);

• Support from

  0.10.70

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OnMovementVelocityChangedListener

Set your context to implement this listener and add the override method to listen to the velocity changes of movement.

Prototype

package com.robotemi.sdk.listeners;

interface OnMovementVelocityChangedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  velocity	float	Velocity of movement, the unit is m/s

• Prototype

  void onMovementVelocityChanged(float velocity);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnMovementVelocityChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnMovementVelocityChangedListener(OnMovementVelocityChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnMovementVelocityChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnMovementVelocityChangedListener(OnMovementVelocityChangedListener listener);

• Support from

  0.10.77

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OnMovementStatusChangedListener

Set your context to implement this listener and add the override method to listen to the status changes of movement.

Prototype

package com.robotemi.sdk.listeners;

interface OnMovementStatusChangedListener {}

Static constant

Constant	Type	Value	Description
TYPE_SKID_JOY	String	"skidJoy"	Movement type - skidJoy
TYPE_TURN_BY	String	"turnBy"	Movement type - turnBy
STATUS_START	String	"start"	Movement started
STATUS_GOING	String	"going"	Moving
STATUS_OBSTACLE_DETECTED	String	"obstacle detected"	Obstacle detected during the movement
STATUS_NODE_INACTIVE	String	"node inactive"	Node inactive
STATUS_CALCULATING	String	"calculating"	Calculating
STATUS_COMPLETE	String	"complete"	Movement completed
STATUS_ABORT	String	"abort"	Movement abort

Abstract methods

• Parameters

  Parameter	Type	Description
  type	String	Movement type
  status	String	Movement status

• Prototype

  void onMovementStatusChanged(String type, String status);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnMovementStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnMovementStatusChangedListener(OnMovementStatusChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnMovementStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnMovementStatusChangedListener(OnMovementStatusChangedListener listener);

• Support from

  0.10.77