One can control the wheelchair by specifying either the rotational and translational speeds or the voltage given to the turn and drive channels of the Wheelchair base. The corresponding methods to do so are:
//Drive and turn units are in meters/sec and radians/sec respectively. (set-drive-and-turn (self <wheelchair-client>) drive turn) (set-drive (self <wheelchair-client>) drive) (set-turn (self <wheelchair-client>) turn) (set-voltage-drive (self <wheelchair-client>) volts-drive) (set-voltage-turn (self <wheelchair-client>) volts-turn) (halt (self <wheelchair-client>))The method
halt stops the wheelchair.