Package com.viam.sdk.core.component.servo

Class ServoRPCClient

java.lang.Object

com.viam.sdk.core.resource.Resource

com.viam.sdk.core.component.Component

com.viam.sdk.core.component.servo.Servo

com.viam.sdk.core.component.servo.ServoRPCClient

public class ServoRPCClient
extends Servo

Nested Class Summary

Nested classes/interfaces inherited from class com.viam.sdk.core.resource.Resource

Resource.Reconfigurable, Resource.Stoppable

Field Summary

Fields inherited from class com.viam.sdk.core.component.servo.Servo

SUBTYPE

Constructor Summary

Constructors

Constructor	Description
ServoRPCClient(String name, Channel chan)

Method Summary

Modifier and Type	Method	Description
com.google.protobuf.Struct	doCommand(Map<String,com.google.protobuf.Value> command)	Send/Receive arbitrary commands to the Resource
List<Common.Geometry>	getGeometries(Optional<com.google.protobuf.Struct> extra)	Get all geometries associated with the Component, in their current configuration, in the frame of the Component.
int	getPosition(com.google.protobuf.Struct extra)	Get the current angle (degrees) of the servo.
boolean	isMoving()	Get if the servo is currently moving.
void	move(int angle, com.google.protobuf.Struct extra)	Move the servo to the provided angle.
void	stop(com.google.protobuf.Struct extra)	Stop the servo.

Methods inherited from class com.viam.sdk.core.component.servo.Servo

fromRobot, getPosition, move, named, stop

Methods inherited from class com.viam.sdk.core.resource.Resource

close, createStatus, getName, getSubtype, named

Methods inherited from class java.lang.Object

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

Constructor Details

ServoRPCClient

public ServoRPCClient(String name,
 Channel chan)

Method Details

doCommand

public com.google.protobuf.Struct doCommand(Map<String,com.google.protobuf.Value> command)

Description copied from class: Resource

Send/Receive arbitrary commands to the Resource

Overrides:

doCommand in class Resource

Parameters:

command - the command to execute

Returns:

result of the executed command

move

public void move(int angle,
 com.google.protobuf.Struct extra)

Description copied from class: Servo

Move the servo to the provided angle.

Specified by:

move in class Servo

Parameters:

angle - the desired angle of the servo in degrees

getPosition

public int getPosition(com.google.protobuf.Struct extra)

Description copied from class: Servo

Get the current angle (degrees) of the servo.

Specified by:

getPosition in class Servo

Returns:

the current angle of the servo in degrees

stop

public void stop(com.google.protobuf.Struct extra)

Description copied from class: Servo

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

Specified by:

stop in class Servo

isMoving

public boolean isMoving()

Description copied from class: Servo

Get if the servo is currently moving.

Specified by:

isMoving in class Servo

Returns:

whether the servo is moving

getGeometries

public List<Common.Geometry> getGeometries(Optional<com.google.protobuf.Struct> extra)

Description copied from class: Component

Get all geometries associated with the Component, in their current configuration, in the frame of the Component.

Overrides:

getGeometries in class Component

Returns:

the geometries associated with the Component