viam.components.servo.client

Classes

ServoClient

gRPC client for the Servo component.

Module Contents

class viam.components.servo.client.ServoClient(name: str, channel: grpclib.client.Channel)

Bases: viam.components.servo.servo.Servo, viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase

gRPC client for the Servo component.

channel

client

async get_position(*, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs) → int

Get the current angle (degrees) of the servo.

my_servo = Servo.from_robot(robot=machine, name="my_servo")

# Move the servo from its origin to the desired angle of 10 degrees.
await my_servo.move(10)

# Get the current set angle of the servo.
pos1 = await my_servo.get_position()

# Move the servo from its origin to the desired angle of 20 degrees.
await my_servo.move(20)

# Get the current set angle of the servo.
pos2 = await my_servo.get_position()

Returns:

The current angle of the servo in degrees.

Return type:

int

For more information, see Servo component.

async move(angle: int, *, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs)

Move the servo to the provided angle.

my_servo = Servo.from_robot(robot=machine, name="my_servo")

# Move the servo from its origin to the desired angle of 10 degrees.
await my_servo.move(10)

# Move the servo from its origin to the desired angle of 90 degrees.
await my_servo.move(90)

Parameters:

angle (int) – The desired angle of the servo in degrees.

For more information, see Servo component.

async stop(*, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs)

Stop the servo. It is assumed that the servo stops immediately.

my_servo = Servo.from_robot(robot=machine, name="my_servo")

# Move the servo from its origin to the desired angle of 10 degrees.
await my_servo.move(10)

# Stop the servo. It is assumed that the servo stops moving immediately.
await my_servo.stop()

For more information, see Servo component.

async is_moving(*, timeout: float | None = None, **kwargs) → bool

Get if the servo is currently moving.

my_servo = Servo.from_robot(robot=machine, name="my_servo")

print(await my_servo.is_moving())

Returns:

Whether the servo is moving.

Return type:

bool

For more information, see Servo component.

async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: float | None = None, **kwargs) → Mapping[str, viam.utils.ValueTypes]

Send/Receive arbitrary commands to the Resource

command = {"cmd": "test", "data1": 500}
result = await component.do_command(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, **kwargs) → 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 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

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 = Arm.get_resource_name("my_arm")

Parameters:

name (str) – The name of the Resource

Returns:

The ResourceName of this Resource

Return type:

ResourceName

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()