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Fix service name caps (#2344)
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@JessamyT
JessamyT authored Dec 20, 2023
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8 changes: 4 additions & 4 deletions docs/mobility/base-rc/_index.md
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# SME: Eric
---

The Base Remote Control service implements an [input controller](/components/input-controller/) as a remote control for a [base](/components/base/).
The base remote control service implements an [input controller](/components/input-controller/) as a remote control for a [base](/components/base/).
This uses the [`input` api](/components/input-controller/#api) to make it easy to add remote drive controls for your rover or other mobile robot with a controller like a gamepad.

Add the Base Remote Control service after configuring your robot with a base and input controller to control the linear and angular velocity of the base with the controller's button or joystick controls.
Add the base remote control service after configuring your robot with a base and input controller to control the linear and angular velocity of the base with the controller's button or joystick controls.

Control mode is determined by the configuration attribute `"mode"`, for which there are five options:

Expand All @@ -39,7 +39,7 @@ You can monitor the input from these controls in the **Control** tab of the [Via

## Configuration

You must configure a [base](/components/base/) with a [movement sensor](/components/movement-sensor/) as part of your robot to be able to use a Base Remote Control service.
You must configure a [base](/components/base/) with a [movement sensor](/components/movement-sensor/) as part of your robot to be able to use a base remote control service.

{{< tabs >}}
{{% tab name="Config Builder" %}}
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{{% alert title="Tip" color="tip" %}}

The following code examples assume that you have a robot configured with a [base](/components/base/) named `"my_base"`, [input controller](/components/input-controller/) named `"my_controller"`, and Base Remote Control service named `"my_base_rc_service"`.
The following code examples assume that you have a robot configured with a [base](/components/base/) named `"my_base"`, [input controller](/components/input-controller/) named `"my_controller"`, and base remote control service named `"my_base_rc_service"`.
Make sure to add the required code to connect to your robot and import any required packages at the top of your code file.
Go to your robot's **Code sample** tab on the [Viam app](https://app.viam.com) for boilerplate code to connect to your robot.

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10 changes: 5 additions & 5 deletions docs/mobility/navigation/_index.md
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# SMEs: Raymond
---

The Navigation service is the stateful definition of Viam's [motion service](/mobility/motion/).
The navigation service is the stateful definition of Viam's [motion service](/mobility/motion/).
It uses GPS to autonomously navigate a rover [base](/components/base/) to user defined endpoints called waypoints.
Configure your base with a navigation service, add waypoints, and set the mode of the service to [**Waypoint**](#setmode) to move your rover along a defined path at your desired motion configuration.

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## Requirements

You must configure a [base](/components/base/) with [movement sensors](/components/movement-sensor/) as part of your robot to configure a Navigation service.
You must configure a [base](/components/base/) with [movement sensors](/components/movement-sensor/) as part of your robot to configure a navigation service.

To use the navigation service, configure a stack of movement sensors that implement the following methods in their {{< glossary_tooltip term_id="model" text="models'" >}} implementations of the [movement sensor API](/components/movement-sensor/#api):

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Select the type `Navigation`.
Enter a name for your service, then click **Create**.

![An example configuration for a Navigation service in the Viam app Config Builder.](/mobility/navigation/navigation-ui-config.png)
![An example configuration for a navigation service in the Viam app Config Builder.](/mobility/navigation/navigation-ui-config.png)

{{% /tab %}}
{{% tab name="JSON Template" %}}
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<!-- prettier-ignore -->
| Name | Type | Inclusion | Description |
| ---- | ---- | --------- | ----------- |
| `store` | obj | **Required** | The type and configuration of data storage to use. Either type `"memory"`, where no additional configuration is needed and the waypoints are stored in local memory while the Navigation process is running, or `"mongodb"`, where data persists at the specified [MongoDB URI](https://www.mongodb.com/docs/manual/reference/connection-string) of your MongoDB deployment. <br> Default: `"memory"` |
| `store` | obj | **Required** | The type and configuration of data storage to use. Either type `"memory"`, where no additional configuration is needed and the waypoints are stored in local memory while the navigation process is running, or `"mongodb"`, where data persists at the specified [MongoDB URI](https://www.mongodb.com/docs/manual/reference/connection-string) of your MongoDB deployment. <br> Default: `"memory"` |
| `base` | string | **Required** | The `name` you have configured for the [base](/components/base/) you are operating with this service. |
| `movement_sensor` | string | **Required** | The `name` of the [movement sensor](/components/movement-sensor/) you have configured for the base you are operating with this service. |
| `motion_service` | string | Optional | The `name` of the [motion service](/mobility/motion/) you have configured for the base you are operating with this service. If you have not added a motion service to your robot, the default motion service will be used. Reference this default service in your code with the name `"builtin"`. |
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Here, you can toggle the mode of the service between **Manual** and **Waypoint** to start and stop navigation, add waypoints and obstacles, and view the position of your rover base on a map:

![An example control interface for a Navigation service in the Viam app Control Tab.](/mobility/navigation/navigation-control-card.png)
![An example control interface for a navigation service in the Viam app Control Tab.](/mobility/navigation/navigation-control-card.png)

## Navigation Concepts

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