viam.components.motor.client
Module Contents
Classes
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 specifiedrpm
. Whenrpm
orrevolutions
is a negative value, the rotation will be in the backward direction. Note: if bothrpm
andrevolutions
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
- 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]