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Copy file name to clipboardExpand all lines: docs/mobility/base-rc/_index.md
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# SME: Eric
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---
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The Base Remote Control service implements an [input controller](/components/input-controller/) as a remote control for a [base](/components/base/).
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The base remote control service implements an [input controller](/components/input-controller/) as a remote control for a [base](/components/base/).
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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.
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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.
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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.
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Control mode is determined by the configuration attribute `"mode"`, for which there are five options:
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## Configuration
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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.
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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.
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{{< tabs >}}
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{{% tab name="Config Builder" %}}
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{{% alert title="Tip" color="tip" %}}
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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"`.
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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"`.
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Make sure to add the required code to connect to your robot and import any required packages at the top of your code file.
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Go to your robot's **Code sample** tab on the [Viam app](https://app.viam.com) for boilerplate code to connect to your robot.
Copy file name to clipboardExpand all lines: docs/mobility/navigation/_index.md
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# SMEs: Raymond
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The Navigation service is the stateful definition of Viam's [motion service](/mobility/motion/).
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The navigation service is the stateful definition of Viam's [motion service](/mobility/motion/).
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It uses GPS to autonomously navigate a rover [base](/components/base/) to user defined endpoints called waypoints.
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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
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You must configure a [base](/components/base/) with [movement sensors](/components/movement-sensor/) as part of your robot to configure a Navigation service.
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You must configure a [base](/components/base/) with [movement sensors](/components/movement-sensor/) as part of your robot to configure a navigation service.
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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`.
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Enter a name for your service, then click **Create**.
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{{% /tab %}}
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{{% tab name="JSON Template" %}}
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<!-- prettier-ignore -->
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| Name | Type | Inclusion | Description |
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| ---- | ---- | --------- | ----------- |
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|`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"`|
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|`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"`|
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|`base`| string |**Required**| The `name` you have configured for the [base](/components/base/) you are operating with this service. |
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|`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. |
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|`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:
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