DOCS-910: Sensor controlled base (#2430)

docs/components/base/_index.md

@@ -51,6 +51,7 @@ For configuration information, click on the model name:
 | Model | Description |
 | ----- | ----------- |
 | [`wheeled`](wheeled/) | Mobile wheeled robot |
+| [`sensor-controlled`](sensor-controlled/) | A model that wraps other base models with feedback control from a movement sensor |
 | [`fake`](fake/) | A model used for testing, with no physical hardware |
 
 ### Modular Resources

docs/components/base/sensor-controlled.md

@@ -0,0 +1,84 @@
+---
+title: "Configure a Sensor-Controlled Base"
+linkTitle: "sensor-controlled"
+weight: 40
+type: "docs"
+description: "Configure a sensor-controlled base, a robotic base with feedback control from a movement sensor."
+images: ["/icons/components/base.svg"]
+tags: ["base", "components"]
+aliases:
+  - "/components/base/sensor-controlled/"
+# SMEs: Rand H., Martha J.
+---
+
+A `sensor-controlled` base supports a robotic base with feedback control from a movement sensor.
+
+{{% alert title="Requirements" color="note" %}}
+1 or more [movement sensors](/components/movement-sensor/) providing:
+
+- Linear and angular velocity feedback, used by the base's [SetVelocity()](/components/base/#setvelocity) endpoint
+- Orientation feedback, used by the base's [Spin()](/components/base/#spin) endpoint
+  {{% /alert %}}
+
+To configure a `sensor-controlled` base as a component of your machine, first configure the [model of base](/components/base/) you want to wrap with feedback control and each required [movement sensor](/components/movement-sensor/).
+To see what models of movement sensor report which feedback, reference the appropriate column in [Movement Sensor API](/components/movement-sensor/#api).
+
+Configure a `sensor-controlled` base as follows:
+
+{{< tabs name="Configure a Sensor-Controlled Base" >}}
+{{% tab name="Config Builder" %}}
+
+Navigate to the **Config** tab of your machine's page in the [Viam app](https://app.viam.com).
+Click on the **Components** subtab and click **Create component**.
+Select the `base` type, then select the `sensor-controlled` model.
+Enter a name for your base and click **Create**.
+
+{{< imgproc src="/components/base/sensor-controlled-base-ui-config.png" alt="An example configuration for a sensor-controlled base in the Viam app config builder" resize="600x" >}}
+
+Edit and fill in the attributes as applicable.
+
+{{% /tab %}}
+{{% tab name="JSON Template" %}}
+
+```json {class="line-numbers linkable-line-numbers"}
+{
+  "components": [
+    { ... INSERT MOVEMENT SENSOR CONFIGURATION },
+    { ... INSERT BASE CONFIGURATION },
+    {
+      "name": "my-sensor-controlled-base",
+      "model": "sensor-controlled",
+      "type": "base",
+      "namespace": "rdk",
+      "attributes": {
+        "movement_sensor": [
+          "<your-orientation-or-velocity-movement-sensor-1>",
+          "<your-orientation-or-velocity-movement-sensor-2>"
+        ],
+        "base": "<your-base>"
+      },
+      "depends_on": []
+    }
+  ]
+}
+```
+
+{{% /tab %}}
+{{< /tabs >}}
+
+The following attributes are available for `sensor-controlled` bases:
+
+<!-- prettier-ignore -->
+| Name | Type | Inclusion | Description |
+| ---- | ---- | --------- | ----------- |
+| `movement-sensor` | array | **Required** | Array with the `name`s of any movement sensors on your base you want to gather feedback from. The driver will select the first movement sensor providing appropriate feedback for either the `SetVelocity()` or the `Spin()` endpoint. |
+| `base` | string | **Required** | String with the `name` of the base you want to wrap with sensor control. |
+
+## Test the base
+
+{{< readfile "/static/include/components/test-control/base-control.md" >}}
+
+The following base control API methods are available with feedback control on a `sensor-controlled` base:
+
+- [SetVelocity()](/components/base/#setvelocity): available if base is configured to receive angular and linear velocity feedback.
+- [Spin()](/components/base/#spin): available if base is configured to receive orientation feedback.