viam.components.gantry
Submodules
Package Contents
Classes
Gantry represents a physical Gantry and can be used for controlling gantries of N axes. |
- class viam.components.gantry.Gantry(name: str)[source]
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], world_state: Optional[viam.proto.common.WorldState] = None, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs)[source]
Move the gantry to a new position.
- Parameters
positions (List[float]) – List of positions for the axes to move to, in millimeters.
world_state (Optional[WorldState]) – Object describing obstacles for the gantry to avoid on its way to
positions
.
- 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]