Package com.viam.component.motor.v1

Class MotorServiceGrpc.MotorServiceBlockingStub

java.lang.Object

io.grpc.stub.AbstractStub<S>

io.grpc.stub.AbstractBlockingStub<MotorServiceGrpc.MotorServiceBlockingStub>

com.viam.component.motor.v1.MotorServiceGrpc.MotorServiceBlockingStub

Enclosing class:

MotorServiceGrpc

public static final class MotorServiceGrpc.MotorServiceBlockingStub
extends io.grpc.stub.AbstractBlockingStub<MotorServiceGrpc.MotorServiceBlockingStub>

A stub to allow clients to do synchronous rpc calls to service MotorService.

 A MotorService maintains all motors associated with a robot
 

Nested Class Summary

Nested classes/interfaces inherited from class io.grpc.stub.AbstractStub

io.grpc.stub.AbstractStub.StubFactory<T extends io.grpc.stub.AbstractStub<T>>

Method Summary

Modifier and Type	Method	Description
protected MotorServiceGrpc.MotorServiceBlockingStub	build(io.grpc.Channel channel, io.grpc.CallOptions callOptions)
Common.DoCommandResponse	doCommand(Common.DoCommandRequest request)	DoCommand sends/receives arbitrary commands
Common.GetGeometriesResponse	getGeometries(Common.GetGeometriesRequest request)	GetGeometries returns the geometries of the component in their current configuration
Motor.GetPositionResponse	getPosition(Motor.GetPositionRequest request)	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
Motor.GetPropertiesResponse	getProperties(Motor.GetPropertiesRequest request)	GetProperties returns a message of booleans indicating which optional features the robot's motor supports
Motor.GoForResponse	goFor(Motor.GoForRequest request)	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.
Motor.GoToResponse	goTo(Motor.GoToRequest request)	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
Motor.IsMovingResponse	isMoving(Motor.IsMovingRequest request)	IsMoving reports if a component is in motion
Motor.IsPoweredResponse	isPowered(Motor.IsPoweredRequest request)	IsPowered returns true if the robot's motor is on
Motor.ResetZeroPositionResponse	resetZeroPosition(Motor.ResetZeroPositionRequest request)	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
Motor.SetPowerResponse	setPower(Motor.SetPowerRequest request)	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
Motor.SetRPMResponse	setRPM(Motor.SetRPMRequest request)	SetRPM instructs the motor to move at the specified RPM indefinitely.
Motor.StopResponse	stop(Motor.StopRequest request)	Stop turns the robot's motor off

Methods inherited from class io.grpc.stub.AbstractBlockingStub

newStub, newStub

Methods inherited from class io.grpc.stub.AbstractStub

getCallOptions, getChannel, withCallCredentials, withChannel, withCompression, withDeadline, withDeadlineAfter, withExecutor, withInterceptors, withMaxInboundMessageSize, withMaxOutboundMessageSize, withOnReadyThreshold, withOption, withWaitForReady

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

build

protected MotorServiceGrpc.MotorServiceBlockingStub build(io.grpc.Channel channel,
 io.grpc.CallOptions callOptions)

Specified by:

build in class io.grpc.stub.AbstractStub<MotorServiceGrpc.MotorServiceBlockingStub>

setPower

public Motor.SetPowerResponse setPower(Motor.SetPowerRequest request)

 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

public Motor.GoForResponse goFor(Motor.GoForRequest request)

 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

public Motor.GoToResponse goTo(Motor.GoToRequest request)

 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

public Motor.SetRPMResponse setRPM(Motor.SetRPMRequest request)

 SetRPM instructs the motor to move at the specified RPM indefinitely.
 

resetZeroPosition

public Motor.ResetZeroPositionResponse resetZeroPosition(Motor.ResetZeroPositionRequest request)

 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

public Motor.GetPositionResponse getPosition(Motor.GetPositionRequest request)

 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

public Motor.GetPropertiesResponse getProperties(Motor.GetPropertiesRequest request)

 GetProperties returns a message of booleans indicating which optional features the robot's motor supports
 

stop

public Motor.StopResponse stop(Motor.StopRequest request)

 Stop turns the robot's motor off
 

isPowered

public Motor.IsPoweredResponse isPowered(Motor.IsPoweredRequest request)

 IsPowered returns true if the robot's motor is on
 

isMoving

public Motor.IsMovingResponse isMoving(Motor.IsMovingRequest request)

 IsMoving reports if a component is in motion
 

doCommand

public Common.DoCommandResponse doCommand(Common.DoCommandRequest request)

 DoCommand sends/receives arbitrary commands
 

getGeometries

public Common.GetGeometriesResponse getGeometries(Common.GetGeometriesRequest request)

 GetGeometries returns the geometries of the component in their current configuration