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.- SUBTYPE: Final
- abstract async get_position(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) List[float] [source]
Get the position in millimeters.
- Returns:
The position of the axes.
- Return type:
List[float]
- abstract async move_to_position(positions: List[float], speeds: List[float], *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs)[source]
Move the gantry to a new position at the requested speeds.
- Parameters:
positions (List[float]) – List of positions for the axes to move to, in millimeters.
- abstract async home(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) bool [source]
Home the gantry to find it’s starting and ending positions
- Returns:
whether the gantry has run the homing sequence successfully
- Return type:
bool
- abstract async get_lengths(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) List[float] [source]
Get the lengths of the axes of the gantry in millimeters.
- Returns:
The lengths of the axes.
- Return type:
List[float]
- abstract async stop(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs)[source]
Stop all motion of the gantry. It is assumed that the gantry stops immediately.
- abstract async is_moving() bool [source]
Get if the gantry is currently 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: Optional[float] = None, **kwargs) Mapping[str, ValueTypes]
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]
- 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: