Configure a Two-Wheeled Base (Micro-RDK)

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 micro-RDK 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:

NameTypeRequired?Description
leftstringRequiredThe name of a drive motor on the left side of the base.
rightstringRequiredThe name of a drive motor on the right side of the base.

Test the base

After you configure the base, go to the CONTROL tab and expand the base component to view the controls to enable keyboard or discrete control over your machine’s movement. If your base makes use of a camera component, the CONTROL tab for your base will also display a Live Feeds section. This section contains buttons to toggle cameras on or off and to arrange how you view the camera feeds.

The base component in control tab

On the Keyboard tab, 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.

If you navigate to the Discrete tab, you can use movement modes such as Straight and Spin and different movement types such as Continuous and Discrete and directions such as Forwards and Backwards.

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

Have questions, or want to meet other people working on robots? Join our Community Discord.

If you notice any issues with the documentation, feel free to file an issue or edit this file.