viam.components.gantry.gantry

Module Contents

Classes

Gantry

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 the super().__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

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. ).

Parameters:

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

Returns:

The operation associated with this function

Return type:

viam.operations.Operation

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()