viam.components.motor.client

Module Contents

Classes

MotorClient

gRPC client for the Motor component.

class viam.components.motor.client.MotorClient(name: str, channel: grpclib.client.Channel)[source]

gRPC client for the Motor component.

async set_power(power: float, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None)[source]

Sets the “percentage” of power the motor should employ between -1 and 1. When power is negative, the rotation will be in the backward direction.

Parameters

power (float) – Power between -1 and 1 (negative implies backwards).

async go_for(rpm: float, revolutions: float, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None)[source]

Spin the motor the specified number of revolutions at specified rpm. When rpm or revolutions is a negative value, the rotation will be in the backward direction. Note: if both rpm and revolutions are negative, the motor will spin in the forward direction.

Parameters
  • rpm (float) – Speed at which the motor should move in rotations per minute (negative implies backwards).

  • revolutions (float) – Number of revolutions the motor should run for (negative implies backwards).

async go_to(rpm: float, position_revolutions: float, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None)[source]

Spin the motor to the specified position (provided in revolutions from home/zero), at the specified speed, in revolutions per minute. Regardless of the directionality of the rpm this function will move the motor towards the specified position.

Parameters
  • rpm (float) – Speed at which the motor should rotate (absolute value).

  • position_revolutions (float) – Target position relative to home/zero, in revolutions.

async reset_zero_position(offset: float, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None)[source]

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

Parameters

offset (float) – The offset from the current position to new home/zero position.

async get_position(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) float[source]

Report the position of the motor based on its encoder. The value returned is the number of revolutions relative to its zero position. This method will raise an exception if position reporting is not supported by the motor.

Returns

Number of revolutions the motor is away from zero/home.

Return type

float

async get_properties(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) viam.components.motor.motor.Motor.Properties[source]

Report a dictionary mapping optional properties to whether it is supported by this motor.

Returns

Map of feature names to supported status.

Return type

Properties

async stop(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None)[source]

Stop the motor immediately, without any gradual step down.

async is_powered(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) Tuple[bool, float][source]

Returns whether or not the motor is currently running.

Returns

Indicates whether the motor is currently powered. float: The current power percentage of the motor

Return type

bool

async is_moving(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) bool[source]

Get if the motor is currently moving.

Returns

Whether the motor is moving.

Return type

bool

async do_command(command: Dict[str, Any], *, timeout: Optional[float] = None) Dict[str, Any][source]

Send/Receive arbitrary commands

Parameters

command (Dict[str, Any]) – The command to execute

Raises

NotImplementedError – Raised if the component does not support arbitrary commands

Returns

Result of the executed command

Return type

Dict[str, Any]