viam.components.gantry.gantry
Module Contents
Classes
Gantry represents a physical Gantry and can be used for controlling gantries of N axes. |
- class viam.components.gantry.gantry.Gantry(name: str)[source]
Bases:
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 thesuper().__init__()
function.from viam.components.gantry import Gantry
- SUBTYPE: Final
- abstract async get_position(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) List[float] [source]
Get the position in millimeters.
my_gantry = Gantry.from_robot(robot=robot, name="my_gantry") # Get the current positions of the axes of the gantry in millimeters. positions = await my_gantry.get_position()
- Returns:
The position of the axes.
- Return type:
List[float]
- abstract async move_to_position(positions: List[float], speeds: List[float], *, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs)[source]
Move the gantry to a new position at the requested speeds.
my_gantry = Gantry.from_robot(robot=robot, 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)
- Parameters:
positions (List[float]) – List of positions for the axes to move to, in millimeters.
- abstract async home(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) bool [source]
Home the gantry to find it’s starting and ending positions
my_gantry = Gantry.from_robot(robot=robot, name="my_gantry") await my_gantry.home()
- Returns:
whether the gantry has run the homing sequence successfully
- Return type:
bool
- abstract async get_lengths(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) List[float] [source]
Get the lengths of the axes of the gantry in millimeters.
my_gantry = Gantry.from_robot(robot=robot, name="my_gantry") # Get the lengths of the axes of the gantry in millimeters. lengths_mm = await my_gantry.get_lengths()
- Returns:
The lengths of the axes.
- Return type:
List[float]
- abstract async stop(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs)[source]
Stop all motion of the gantry. It is assumed that the gantry stops immediately.
my_gantry = Gantry.from_robot(robot=robot, name="my_gantry") # Stop all motion of the gantry. It is assumed that the gantry stops # immediately. await my_gantry.stop()
- abstract async is_moving() bool [source]
Get if the gantry is currently moving.
my_gantry = Gantry.from_robot(robot=robot, 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(my_gantry.is_moving())
- Returns:
Whether the gantry is moving.
- Return type:
bool
- 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
- abstract async do_command(command: Mapping[str, ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, ValueTypes]
Send/Receive arbitrary commands to the Resource
command = {"cmd": "test", "data1": 500} result = component.do(command)
- 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: Dict[str, Any] | None = None, timeout: float | None = None) List[viam.proto.common.Geometry]
Get all geometries associated with the Component, in their current configuration, in the frame 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.
- Return type:
List[Geometry]
- classmethod get_resource_name(name: str) viam.proto.common.ResourceName
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 = my_arm.get_resource_name("my_arm")
- Parameters:
name (str) – The name of the Resource
- Returns:
The ResourceName of this Resource
- Return type:
- 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:
- 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 return errors when future non-Close methods are called.
await component.close()