Package com.viam.component.motor.v1

Interface MotorServiceGrpc.AsyncService

All Known Implementing Classes:
MotorServiceGrpc.MotorServiceImplBase
Enclosing class:
MotorServiceGrpc
public static interface MotorServiceGrpc.AsyncService
 A MotorService maintains all motors associated with a robot

  • Method Details

    • setPower

      default void setPower(Motor.SetPowerRequest request, io.grpc.stub.StreamObserver<Motor.SetPowerResponse> responseObserver)
       SetPower sets the percentage of the motor's total power that should be employed
 expressed a value between -1 and 1 where negative values indicate a backwards
 direction and positive values a forward direction

    • goFor

      default void goFor(Motor.GoForRequest request, io.grpc.stub.StreamObserver<Motor.GoForResponse> responseObserver)
       GoFor instructs the motor to turn at a specified speed, which is expressed in RPM,
 for a specified number of rotations relative to its starting position
 This method will return an error if position reporting is not supported
 If revolutions != 0, this will block until the number of revolutions has been completed or another operation comes in.
 Deprecated: If revolutions is 0, this will run the motor at rpm indefinitely.

    • goTo

      default void goTo(Motor.GoToRequest request, io.grpc.stub.StreamObserver<Motor.GoToResponse> responseObserver)
       GoTo requests the robot's motor to move to a specific position that
 is relative to its home position at a specified speed which is expressed in RPM
 This method will return an error if position reporting is not supported

    • setRPM

      default void setRPM(Motor.SetRPMRequest request, io.grpc.stub.StreamObserver<Motor.SetRPMResponse> responseObserver)
       SetRPM instructs the motor to move at the specified RPM indefinitely.

    • resetZeroPosition

      default void resetZeroPosition(Motor.ResetZeroPositionRequest request, io.grpc.stub.StreamObserver<Motor.ResetZeroPositionResponse> responseObserver)
       ResetZeroPosition sets the current position of the motor as the new zero position
 This method will return an error if position reporting is not supported

    • getPosition

      default void getPosition(Motor.GetPositionRequest request, io.grpc.stub.StreamObserver<Motor.GetPositionResponse> responseObserver)
       Position reports the position of the robot's motor relative to its zero position
 This method will return an error if position reporting is not supported

    • getProperties

      default void getProperties(Motor.GetPropertiesRequest request, io.grpc.stub.StreamObserver<Motor.GetPropertiesResponse> responseObserver)
       GetProperties returns a message of booleans indicating which optional features the robot's motor supports

    • stop

      default void stop(Motor.StopRequest request, io.grpc.stub.StreamObserver<Motor.StopResponse> responseObserver)
       Stop turns the robot's motor off

    • isPowered

      default void isPowered(Motor.IsPoweredRequest request, io.grpc.stub.StreamObserver<Motor.IsPoweredResponse> responseObserver)
       IsPowered returns true if the robot's motor is on

    • isMoving

      default void isMoving(Motor.IsMovingRequest request, io.grpc.stub.StreamObserver<Motor.IsMovingResponse> responseObserver)
       IsMoving reports if a component is in motion

    • doCommand

      default void doCommand(Common.DoCommandRequest request, io.grpc.stub.StreamObserver<Common.DoCommandResponse> responseObserver)
       DoCommand sends/receives arbitrary commands

    • getGeometries

      default void getGeometries(Common.GetGeometriesRequest request, io.grpc.stub.StreamObserver<Common.GetGeometriesResponse> responseObserver)
       GetGeometries returns the geometries of the component in their current configuration