Module Contents



Base component.

class viam.components.encoder.encoder.Encoder(name: str)[source]

Bases: viam.components.component_base.ComponentBase

Base component. All components must inherit from this class.

class Properties[source]
ticks_count_supported: bool
angle_degrees_supported: bool
abstract async reset_position(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs)[source]

Set the current position to be the new zero (home) position.

abstract async get_position(position_type: Optional[viam.proto.component.encoder.PositionType.ValueType] = None, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) 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) for PositionType.TICKS or absolute units (degrees along a circle) for PositionType.DEGREES.


position_type (PositionType.ValueType) – The desired output type of the position


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:


abstract async get_properties(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) Properties[source]

Return a dictionary of the types of position reporting this encoder supports


Map of position types to supported status.

Return type:


classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self

Get the component named name from the provided robot.

  • robot (RobotClient) – The robot

  • name (str) – The name of the component


The component, if it exists on the robot

Return type:


abstract async do_command(command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) Mapping[str, ValueTypes]

Send/Receive arbitrary commands to the Resource


command (Mapping[str, ValueTypes]) – The command to execute


NotImplementedError – Raised if the Resource does not support arbitrary commands


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]

Get all geometries associated with the Component, in their current configuration, in the frame of the Component.


The geometries associated with the Component.

Return type:


classmethod get_resource_name(name: str) viam.proto.common.ResourceName

Get the ResourceName for this Resource with the given name


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 the Operation is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ).


kwargs (Mapping[str, Any]) – The kwargs object containing the operation


The operation associated with this function

Return type:


async close()

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 retun errors when future non-Close methods are called.