viam.components.gantry.gantry
=============================

.. py:module:: viam.components.gantry.gantry


Classes
-------

.. autoapisummary::

   viam.components.gantry.gantry.Gantry


Module Contents
---------------

.. py:class:: Gantry(name: str, *, logger: Optional[logging.Logger] = None)

   Bases: :py:obj:`viam.components.component_base.ComponentBase`


   Gantry represents a physical Gantry and can be used for controlling gantries of N axes.

   This acts as an abstract base class for any drivers representing specific
   gantry implementations. This cannot be used on its own. If the ``__init__()`` function is
   overridden, it must call the ``super().__init__()`` function.

   ::

       from viam.components.gantry import Gantry

   For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/>`_.


   .. py:attribute:: API
      :type:  Final

      The API of the Resource


   .. py:method:: get_position(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[float]
      :abstractmethod:

      :async:


      Get the positions of the axes of the gantry in millimeters.

      ::

          my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")

          # Get the current positions of the axes of the gantry in millimeters.
          positions = await my_gantry.get_position()

      :returns: A list of the position of the axes of the gantry in millimeters.
      :rtype: List[float]

      For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#getposition>`_.



   .. py:method:: move_to_position(positions: List[float], speeds: List[float], *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs)
      :abstractmethod:

      :async:


      Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec).

      ::

          my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")

          # Create a list of positions for the axes of the gantry to move to. Assume in
          # this example that the gantry is multi-axis, with 3 axes.
          examplePositions = [1, 2, 3]

          exampleSpeeds = [3, 9, 12]

          # Move the axes of the gantry to the positions specified.
          await my_gantry.move_to_position(
              positions=examplePositions, speeds=exampleSpeeds)

      :param positions: A list of positions for the axes of the gantry to move to, in millimeters.
      :type positions: List[float]
      :param speeds: A list of speeds in millimeters per second for the gantry to move at respective to each axis.
      :type speeds: List[float]

      For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#movetoposition>`_.



   .. py:method:: home(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> bool
      :abstractmethod:

      :async:


      Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches.

      ::

          my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")

          await my_gantry.home()

      :returns: Whether the gantry has run the homing sequence successfully.
      :rtype: bool

      For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#home>`_.



   .. py:method:: get_lengths(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[float]
      :abstractmethod:

      :async:


      Get the lengths of the axes of the gantry in millimeters.

      ::

          my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")

          # Get the lengths of the axes of the gantry in millimeters.
          lengths_mm = await my_gantry.get_lengths()

      :returns: A list of the lengths of the axes of the gantry in millimeters.
      :rtype: List[float]

      For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#getlengths>`_.



   .. py:method:: stop(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs)
      :abstractmethod:

      :async:


      Stop all motion of the gantry. It is assumed that the gantry stops immediately.

      ::

          my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")

          # Stop all motion of the gantry. It is assumed that the gantry stops
          # immediately.
          await my_gantry.stop()

      For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#stop>`_.



   .. py:method:: is_moving() -> bool
      :abstractmethod:

      :async:


      Get if the gantry is currently moving.

      ::

          my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")

          # Stop all motion of the gantry. It is assumed that the
          # gantry stops immediately.
          await my_gantry.stop()

          # Print if the gantry is currently moving.
          print(await my_gantry.is_moving())

      :returns: Whether the gantry is moving.
      :rtype: bool

      For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#ismoving>`_.



   .. py:method:: from_robot(robot: viam.robot.client.RobotClient, name: str) -> typing_extensions.Self
      :classmethod:


      Get the component named ``name`` from the provided robot.

      :param robot: The robot
      :type robot: RobotClient
      :param name: The name of the component
      :type name: str

      :returns: The component, if it exists on the robot
      :rtype: Self



   .. py:method:: do_command(command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]
      :abstractmethod:

      :async:


      Send/Receive arbitrary commands to the Resource

      ::

          command = {"cmd": "test", "data1": 500}
          result = await component.do_command(command)

      :param command: The command to execute
      :type command: Mapping[str, ValueTypes]

      :raises NotImplementedError: Raised if the Resource does not support arbitrary commands

      :returns: Result of the executed command
      :rtype: Mapping[str, ValueTypes]



   .. py:method:: get_geometries(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[viam.proto.common.Geometry]
      :async:


      Get all geometries associated with the component, in their current configuration, in the
      `frame <https://docs.viam.com/operate/mobility/define-geometry/>`__ of the component.

      ::

          geometries = await component.get_geometries()

          if geometries:
              # Get the center of the first geometry
              print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")

      :returns: The geometries associated with the Component.
      :rtype: List[Geometry]



   .. py:method:: get_resource_name(name: str) -> viam.proto.common.ResourceName
      :classmethod:


      Get the ResourceName for this Resource with the given name

      ::

          # Can be used with any resource, using an arm as an example
          my_arm_name = Arm.get_resource_name("my_arm")

      :param name: The name of the Resource
      :type name: str

      :returns: The ResourceName of this Resource
      :rtype: ResourceName



   .. py:method:: get_operation(kwargs: Mapping[str, Any]) -> viam.operations.Operation

      Get the ``Operation`` associated with the currently running function.

      When writing custom resources, you should get the ``Operation`` by calling this function and check to see if it's cancelled.
      If the ``Operation`` is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc.
      ).

      :param kwargs: The kwargs object containing the operation
      :type kwargs: Mapping[str, Any]

      :returns: The operation associated with this function
      :rtype: viam.operations.Operation



   .. py:method:: close()
      :async:


      Safely shut down the resource and prevent further use.

      Close must be idempotent. Later configuration may allow a resource to be "open" again.
      If a resource does not want or need a close function, it is assumed that the resource does not need to return errors when future
      non-Close methods are called.

      ::

          await component.close()