Package com.viam.component.motor.v1

Class MotorServiceGrpc.MotorServiceStub

java.lang.Object
io.grpc.stub.AbstractStub<MotorServiceGrpc.MotorServiceStub>
io.grpc.stub.AbstractAsyncStub<MotorServiceGrpc.MotorServiceStub>
com.viam.component.motor.v1.MotorServiceGrpc.MotorServiceStub
Enclosing class:
MotorServiceGrpc
public static final class MotorServiceGrpc.MotorServiceStub extends io.grpc.stub.AbstractAsyncStub<MotorServiceGrpc.MotorServiceStub>
A stub to allow clients to do asynchronous rpc calls to service MotorService. 
 A MotorService maintains all motors associated with a robot

  • Method Details

    • build

      protected MotorServiceGrpc.MotorServiceStub build(io.grpc.Channel channel, io.grpc.CallOptions callOptions)
      Specified by:
      build in class io.grpc.stub.AbstractStub<MotorServiceGrpc.MotorServiceStub>

    • setPower

      public 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

      public 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

      public 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

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

    • resetZeroPosition

      public 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

      public 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

      public 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

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

    • isPowered

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

    • isMoving

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

    • doCommand

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

    • getStatus

      public void getStatus(Common.GetStatusRequest request, io.grpc.stub.StreamObserver<Common.GetStatusResponse> responseObserver)
       GetStatus returns the status of the resource

    • getGeometries

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