viam.components.encoder.client
Module Contents
Classes
gRPC client for the Encoder component. |
- class viam.components.encoder.client.EncoderClient(name: str, channel: grpclib.client.Channel)[source]
Bases:
viam.components.encoder.encoder.Encoder
,viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase
gRPC client for the Encoder component.
- async reset_position(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None)[source]
Set the current position to be the new zero (home) position.
- async get_position(position_type: Optional[viam.proto.component.encoder.PositionType.ValueType] = None, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) Tuple[float, viam.proto.component.encoder.PositionType.ValueType] [source]
Report the position of the encoder. The value returned is the current position in terms of it’s
position_type
. The position will be either in relative units (ticks away from a zero position) forPositionType.TICKS
or absolute units (degrees along a circle) forPositionType.DEGREES
.- Parameters:
position_type (PositionType.ValueType) – The desired output type of the position
- Returns:
- Position of the encoder which can either be ticks since last zeroing
for a relative encoder or degrees for an absolute encoder.
PositionType: The type of position the encoder returns (ticks or degrees)
- Return type:
float
- async get_properties(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) viam.components.encoder.encoder.Encoder.Properties [source]
Return a dictionary of the types of position reporting this encoder supports
- Returns:
Map of position types to supported status.
- Return type:
- async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: Optional[float] = None) Mapping[str, viam.utils.ValueTypes] [source]
Send/Receive arbitrary commands to the Resource
- Parameters:
command (Mapping[str, ValueTypes]) – The command to execute
- Raises:
NotImplementedError – Raised if the Resource does not support arbitrary commands
- Returns:
Result of the executed command
- Return type:
Mapping[str, ValueTypes]
- async get_geometries(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) List[viam.proto.common.Geometry] [source]
Get all geometries associated with the Component, in their current configuration, in the frame of the Component.
- Returns:
The geometries associated with the Component.
- Return type:
List[Geometry]
- classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self
Get the component named
name
from the provided robot.- Parameters:
robot (RobotClient) – The robot
name (str) – The name of the component
- Returns:
The component, if it exists on the robot
- Return type:
Self
- classmethod get_resource_name(name: str) viam.proto.common.ResourceName
Get the ResourceName for this Resource with the given name
- Parameters:
name (str) – The name of the Resource
- 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 theOperation
is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ).- Parameters:
kwargs (Mapping[str, Any]) – The kwargs object containing the operation
- Returns:
The operation associated with this function
- Return type: