skyleilani / agilex

AgileX LIMO Driver

This module implements the base driver for the AgileX LIMO base to be used with viam-server. This driver supports differential, ackermann, and omni directional steering modes over the serial port.

Build and Run

To use this module, follow these instructions to add a module from the Viam Registry and select the viam:base:agilex-limo model from the agilex-limo module.

Configure your AgileX LIMO base

Note

Before configuring your base, you must create a robot.

Navigate to the Config tab of your robot’s page in the Viam app. Click on the Components subtab and click Create component. Select the base type, then select the agilex-limo model. Enter a name for your base and click Create.

On the new component panel, copy and paste the following attribute template into your base’s Attributes box.

{
  "drive_mode": "<ackermann|differential|omni>",
  "serial_path": "<your-serial-path>"
}

Note

For more information, see Configure a Robot.

Attributes

The following attributes are available for viam:base:agilex-limo bases:

Name	Type	Inclusion	Description
drive_mode	string	Required	LIMO steering mode. Options: differential, ackermann, omni (mecanum).
serial_path	string	Optional	The full filesystem path to the serial device, starting with /dev/. With your serial device connected, you can run sudo dmesg | grep tty to show relevant device connection log messages, and then match the returned device name, such as ttyTHS1, to its device file, such as /dev/ttyTHS1. If you omit this attribute, Viam will attempt to automatically detect the path. Default: /dev/ttyTHS1

Example configurations:

{
  "drive_mode": "differential"
}

{
  "drive_mode": "omni",
  "serial_path": "/dev/ttyTHS1"
}

Next Steps

• To test your base, go to the Control tab.
• To write code against your base, use one of the available SDKs.
• To view examples using a base component, explore these tutorials.

Local Development

This module is written in Go.

To build: make limobase
To test: make test

License

Copyright 2021-2023 Viam Inc.
Apache 2.0