From b9de5179c17a6d8a1035fe2f8d6b8873899f2c44 Mon Sep 17 00:00:00 2001 From: Sierra Guequierre Date: Fri, 8 Sep 2023 13:41:07 -0400 Subject: [PATCH] Change order re. suggestions from code review --- docs/services/navigation/_index.md | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/docs/services/navigation/_index.md b/docs/services/navigation/_index.md index 0c3b5935a6..46e626a135 100644 --- a/docs/services/navigation/_index.md +++ b/docs/services/navigation/_index.md @@ -585,8 +585,8 @@ gps, err := gps.CompassHeading(context.Background, nil) gps.CompassHeading{175} ``` -The movement sensor API's [`GetCompassHeading()`](/components/movement-sensor/#getcompassheading) takes compass heading readings. If you want to read compass headings, [configure a capable movement sensor](/components/movement-sensor/#configuration) on your robot. +The movement sensor API's [`GetCompassHeading()`](/components/movement-sensor/#getcompassheading) takes compass heading readings. Use compass heading readings to determine the *bearing* of your robot, or, the [cardinal direction](https://en.wikipedia.org/wiki/Cardinal_direction) that your robot is facing. ### Orientation @@ -603,12 +603,10 @@ orientation, err := imuwit.Orientation(context.Background, nil) imu.Orientation{o_x: -47.97, o_y: 142.63, o_z: -90.14, theta: 60} ``` -The movement sensor API's [`GetOrientation()`](/components/movement-sensor/#getorientation) takes orientation readings. - -Use orientation readings to determine the orientation of an object in 3D space as an "orientation vector", or, its position within the [cartesian coordinate system](https://en.wikipedia.org/wiki/Cartesian_coordinate_system) relative to some specific `origin` point that you, the user, need to choose and configure for your robot in Viam's [frame system](/services/frame-system/). - If you want to read orientation, [configure a capable movement sensor](/components/movement-sensor/#configuration) on your robot. +The movement sensor API's [`GetOrientation()`](/components/movement-sensor/#getorientation) takes orientation readings. Additionally, follow [these instructions](/services/frame-system/#configuration) to configure the geometries of each component of your robot within the [frame system](/services/frame-system/). +Use orientation readings to determine the orientation of an object in 3D space as an "orientation vector", or, its position within the [cartesian coordinate system](https://en.wikipedia.org/wiki/Cartesian_coordinate_system) relative to some specific `origin` point that you, the user, need to choose and configure for your robot in Viam's [frame system](/services/frame-system/). ### Angular Velocity @@ -626,8 +624,8 @@ ang_vel, err := imu.AngularVelocity{context.Background, nil} imu.AngularVelocity{x: -47.9736, y: 142.639, z: -90.1489} ``` -The movement sensor API's [`GetAngularVelocity()`](/components/movement-sensor/#getangularvelocity) takes angular velocity readings. If you want to get an angular velocity reading, first [configure a capable movement sensor](/components/movement-sensor/#configuration) on your robot. +The movement sensor API's [`GetAngularVelocity()`](/components/movement-sensor/#getangularvelocity) takes angular velocity readings. Use angular velocity readings to determine the speed and direction at which your robot is rotating. ### Position @@ -645,8 +643,8 @@ position, err := imu.Position{context.Background, nil} gps.Position{x: 4.5, y: 5.6, z: 6.7} ``` -The movement sensor API's [`GetPosition()`](/components/movement-sensor/#getposition) takes position readings. If you want to get a position, [configure a capable movement sensor](/components/movement-sensor/#configuration) on your robot. +The movement sensor API's [`GetPosition()`](/components/movement-sensor/#getposition) takes position readings. The suggested components allow you to get the *absolute* position of components through their Positions readings for use in the [motion service](/services/motion/) and [navigation service](/services/navigation/). Use position readings to determine the GPS coordinates of an object in 3D space or its position in the geographic coordinate system [(GCS)](https://en.wikipedia.org/wiki/Geographic_coordinate_system). @@ -666,8 +664,8 @@ linear_velocity, err := imu.LinearVelocity{context.Background, nil} accel.LinearVelocity{x: 6.497, y: 1.345, z: 12.32} ``` -The movement sensor API's [`GetLinearVelocity()`](/components/movement-sensor/#getlinearvelocity) takes linear velocity readings. If you want to get linear velocity, [configure a capable movement sensor](/components/movement-sensor/#configuration) on your robot. +The movement sensor API's [`GetLinearVelocity()`](/components/movement-sensor/#getlinearvelocity) takes linear velocity readings. Use linear velocity readings to determine the speed at which your robot is moving through space. Use [linear acceleration](/services/navigation/#linear-acceleration) readings from another movement sensor to determine the rate of change of this speed. @@ -684,6 +682,6 @@ linear_acceleration, err := imu.LinearAcceleration{context.Background, nil} accel.LinearAcceleration{x: 6.497, y: 1.345, z: 12.32} ``` -The movement sensor API's [`GetLinearAcceleration()`](/components/movement-sensor/#getlinearacceleration) takes linear acceleration readings. If you want to get linear acceleration, [configure a capable movement sensor](/components/movement-sensor/#configuration) on your robot. +The movement sensor API's [`GetLinearAcceleration()`](/components/movement-sensor/#getlinearacceleration) takes linear acceleration readings. Use linear acceleration readings to determine the rate of change of the [linear velocity](/services/navigation/#linear-velocity) of your robot, or, the speed at which your robot is moving through space.