viam.components.servo.servo
Classes
Servo represents a physical servo. |
Module Contents
- class viam.components.servo.servo.Servo(name: str, *, logger: logging.Logger | None = None)[source]
Bases:
viam.components.component_base.ComponentBase
Servo represents a physical servo.
This acts as an abstract base class for any drivers representing specific servo implementations. This cannot be used on its own. If the
__init__()
function is overridden, it must call thesuper().__init__()
function.from viam.components.servo import Servo
For more information, see Servo component.
- SUBTYPE: Final
The Subtype of the Resource
- abstract move(angle: int, *, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs)[source]
- Async:
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.
- abstract get_position(*, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs) int [source]
- Async:
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.
- abstract stop(*, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs)[source]
- Async:
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.
- abstract is_moving() bool [source]
- Async:
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.
- 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
- abstract do_command(command: Mapping[str, ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, ValueTypes]
- Async:
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) 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 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:
- 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 theOperation
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:
- 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()