viam.components.motor

Submodules

Package Contents

Classes

Motor

Base component.
class viam.components.motor.Motor(name: str)[source]

Base component. All components must inherit from this class.

class Properties[source]
position_reporting: bool
SUBTYPE: Final
abstract async set_power(power: float, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs)[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).

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

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

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

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

abstract async get_properties(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → 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

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

Stop the motor immediately, without any gradual step down.

abstract async is_powered(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → 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

abstract async is_moving() → bool[source]

Get if the motor is currently moving.

Returns:

Whether the motor is moving.

Return type:

bool