A Motor represents physical hardware that controls the rotation of an axle. More...

#include "components/motor.hpp"

Inheritance diagram for viam::sdk::Motor:

Classes
struct	power_status
	Information about power-state of the motor. More...

struct	properties
	Features that the specific motor supports. More...

Public Types
typedef double	position

Public Member Functions
void	set_power (double power_pct)
	Sets the percentage of the motor's total power that should be employed.

virtual void	set_power (double power_pct, const ProtoStruct &extra)=0
	Sets the percentage of the motor's total power that should be employed.

void	go_for (double rpm, double revolutions)
	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.

virtual void	go_for (double rpm, double revolutions, const ProtoStruct &extra)=0
	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.

void	go_to (double rpm, double position_revolutions)
	Move the motor to a specific position that is relative to its home position at a specified speed which is expressed in RPM.

virtual void	go_to (double rpm, double position_revolutions, const ProtoStruct &extra)=0
	Move the motor to a specific position that is relative to its home position at a specified speed which is expressed in RPM.

void	set_rpm (double rpm)
	Move the motor indefinitely at a specified speed which is expressed in RPM.

virtual void	set_rpm (double rpm, const ProtoStruct &extra)=0
	Move the motor indefinitely at a specified speed which is expressed in RPM.

void	reset_zero_position (double offset)
	Sets the current position of the motor as the new zero position.

virtual void	reset_zero_position (double offset, const ProtoStruct &extra)=0
	Sets the current position of the motor as the new zero position.

position	get_position ()
	Reports the position of the robot's motor relative to its zero position.

virtual position	get_position (const ProtoStruct &extra)=0
	Reports the position of the robot's motor relative to its zero position.

properties	get_properties ()
	Returns the properties of the motor which comprises the booleans indicating which optional features the robot's motor supports.

virtual properties	get_properties (const ProtoStruct &extra)=0
	Returns the properties of the motor which comprises the booleans indicating.

power_status	get_power_status ()

virtual power_status	get_power_status (const ProtoStruct &extra)=0

virtual bool	is_moving ()=0
	Reports if a component is in motion.

virtual ProtoStruct	do_command (const ProtoStruct &command)=0
	Send/receive arbitrary commands to the resource.

std::vector< GeometryConfig >	get_geometries ()
	Returns `GeometryConfig`s associated with the calling motor.

virtual std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra)=0
	Returns `GeometryConfig`s associated with the calling motor.

API	api () const override
	Returns the `API` associated with a particular resource.

Public Member Functions inherited from viam::sdk::Component
viam::common::v1::ResourceName	get_resource_name (std::string name) const override
	Returns a `ResourceName` for a particular resource name.

Public Member Functions inherited from viam::sdk::Resource
	Resource (std::string name)

virtual std::string	name () const
	Return the resource's name.

Public Member Functions inherited from viam::sdk::Stoppable
virtual void	stop (const ProtoStruct &extra)=0
	Stops a resource from running.

void	stop ()
	Stops a resource from running.

Static Public Member Functions
static position	from_proto (const viam::component::motor::v1::GetPositionResponse &proto)
	Creates a `position` struct from its proto representation.

static power_status	from_proto (const viam::component::motor::v1::IsPoweredResponse &proto)
	Creates a `power_status` struct from its proto representation.

static properties	from_proto (const viam::component::motor::v1::GetPropertiesResponse &proto)
	Creates a `properties` struct from its proto representation.

static viam::component::motor::v1::GetPositionResponse	to_proto (const position &position)
	Converts a `position` struct to its proto representation.

static viam::component::motor::v1::IsPoweredResponse	to_proto (const power_status &power_status)
	Converts a `power_status` struct to its proto representation.

static viam::component::motor::v1::GetPropertiesResponse	to_proto (const properties &properties)
	Converts a `properties` struct to its proto representation.

Static Public Member Functions inherited from viam::sdk::Stoppable
static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource, const ProtoStruct &extra)
	Stops a Resource if it is Stoppable.

static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource)
	Stops a Resource if it is Stoppable.

Protected Member Functions
	Motor (std::string name)

Protected Member Functions inherited from viam::sdk::Component
	Component (std::string name)

Detailed Description

A Motor represents physical hardware that controls the rotation of an axle.

This acts as an abstract base class to be inherited from by any drivers representing specific motor implementations. This class cannot be used on its own.

Member Function Documentation

◆ api()

API viam::sdk::Motor::api ( ) const

overridevirtual

Returns the API associated with a particular resource.

Implements viam::sdk::Resource.

◆ do_command()

virtual ProtoStruct viam::sdk::Motor::do_command ( const ProtoStruct & command )

pure virtual

Send/receive arbitrary commands to the resource.

Parameters

Command the command to execute.

Returns: The result of the executed command.

Implemented in viam::sdk::impl::MotorClient.

◆ get_geometries() [1/2]

std::vector< GeometryConfig > viam::sdk::Motor::get_geometries ( )

inline

Returns GeometryConfigs associated with the calling motor.

Returns: The requested GeometryConfigs associated with the component.

◆ get_geometries() [2/2]

virtual std::vector< GeometryConfig > viam::sdk::Motor::get_geometries ( const ProtoStruct & extra )

pure virtual

Returns GeometryConfigs associated with the calling motor.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implemented in viam::sdk::impl::MotorClient, and viam::sdk::impl::MotorClient.

◆ get_position() [1/2]

position viam::sdk::Motor::get_position ( )

inline

Reports the position of the robot's motor relative to its zero position.

Exceptions

`Exception` if position reporting is not supported

◆ get_position() [2/2]

virtual position viam::sdk::Motor::get_position ( const ProtoStruct & extra )

pure virtual

Reports the position of the robot's motor relative to its zero position.

Parameters

extra Any additional arguments to the method

Exceptions

`Exception` if position reporting is not supported

Implemented in viam::sdk::impl::MotorClient, and viam::sdk::impl::MotorClient.

◆ get_power_status() [1/2]

power_status viam::sdk::Motor::get_power_status ( )

inline

Returns: The motor's current power_status

◆ get_power_status() [2/2]

virtual power_status viam::sdk::Motor::get_power_status ( const ProtoStruct & extra )

pure virtual

Returns: The motor's current power_status

Parameters

extra Any additional arguments to the method

Implemented in viam::sdk::impl::MotorClient, and viam::sdk::impl::MotorClient.

◆ get_properties()

virtual properties viam::sdk::Motor::get_properties ( const ProtoStruct & extra )

pure virtual

Returns the properties of the motor which comprises the booleans indicating.

Parameters

extra Any additional arguments to the method which optional features the robot's motor supports

Implemented in viam::sdk::impl::MotorClient, and viam::sdk::impl::MotorClient.

◆ go_for() [1/2]

void viam::sdk::Motor::go_for	(	double	rpm,
		double	revolutions )

inline

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.

Parameters

rpm	Speed of motor travel in rotations per minute
revolutions	Number of revolutions relative to motor's start position. If `revolutions` == 0, this will run the motor at `rpm` indefinetely. If `revolutions` != 0, this will block until the number of revolutions has been completed or another operation comes in.

Exceptions

`Exception` if position reporting is not supported

◆ go_for() [2/2]

virtual void viam::sdk::Motor::go_for	(	double	rpm,
		double	revolutions,
		const ProtoStruct &	extra )

pure virtual

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.

Parameters

rpm	Speed of motor travel in rotations per minute
revolutions	Number of revolutions relative to motor's start position. If `revolutions` == 0, this will run the motor at `rpm` indefinetely. If `revolutions` != 0, this will block until the number of revolutions has been completed or another operation comes in.
extra	Any additional arguments to the method.

Exceptions

`Exception` if position reporting is not supported

Implemented in viam::sdk::impl::MotorClient, and viam::sdk::impl::MotorClient.

◆ go_to() [1/2]

void viam::sdk::Motor::go_to	(	double	rpm,
		double	position_revolutions )

inline

Move the motor to a specific position that is relative to its home position at a specified speed which is expressed in RPM.

Parameters

rpm	Speed of motor travel in rotations per minute
position_revolutions	Number of revolutions relative to motor's home home/zero

Exceptions

`Exception` if position reporting is not supported

◆ go_to() [2/2]

virtual void viam::sdk::Motor::go_to	(	double	rpm,
		double	position_revolutions,
		const ProtoStruct &	extra )

pure virtual

Move the motor to a specific position that is relative to its home position at a specified speed which is expressed in RPM.

Parameters

rpm	Speed of motor travel in rotations per minute
position_revolutions	Number of revolutions relative to motor's home home/zero
extra	Any additional arguments to the method.

Exceptions

`Exception` if position reporting is not supported

Implemented in viam::sdk::impl::MotorClient, and viam::sdk::impl::MotorClient.

◆ is_moving()

virtual bool viam::sdk::Motor::is_moving ( )

pure virtual

Reports if a component is in motion.

Implemented in viam::sdk::impl::MotorClient.

◆ reset_zero_position() [1/2]

void viam::sdk::Motor::reset_zero_position ( double offset )

inline

Sets the current position of the motor as the new zero position.

Parameters

offset Motor position

Exceptions

`Exception` if position reporting is not supported

◆ reset_zero_position() [2/2]

virtual void viam::sdk::Motor::reset_zero_position	(	double	offset,
		const ProtoStruct &	extra )

pure virtual

Sets the current position of the motor as the new zero position.

Parameters

offset	Motor position
extra	Any additional arguments to the method

Exceptions

`Exception` if position reporting is not supported

Implemented in viam::sdk::impl::MotorClient, and viam::sdk::impl::MotorClient.

◆ set_power() [1/2]

void viam::sdk::Motor::set_power ( double power_pct )

inline

Sets the percentage of the motor's total power that should be employed.

Parameters

power_pct Percentage of motor's power, between -1 and 1, where negative values indicate a backwards direction and positive values, a forward direction.

◆ set_power() [2/2]

virtual void viam::sdk::Motor::set_power	(	double	power_pct,
		const ProtoStruct &	extra )

pure virtual

Sets the percentage of the motor's total power that should be employed.

Parameters

power_pct	Percentage of motor's power, between -1 and 1, where negative values indicate a backwards direction and positive values, a forward direction.
extra	Any additional arguments to the method.

Implemented in viam::sdk::impl::MotorClient, and viam::sdk::impl::MotorClient.

◆ set_rpm() [1/2]

void viam::sdk::Motor::set_rpm ( double rpm )

inline

Move the motor indefinitely at a specified speed which is expressed in RPM.

Parameters

rpm	Speed of motor travel in rotations per minute

Exceptions

`Exception` if position reporting is not supported

◆ set_rpm() [2/2]

virtual void viam::sdk::Motor::set_rpm	(	double	rpm,
		const ProtoStruct &	extra )

pure virtual

Move the motor indefinitely at a specified speed which is expressed in RPM.

Parameters

rpm	Speed of motor travel in rotations per minute
extra	Any additional arguments to the method.

Exceptions

`Exception` if position reporting is not supported

Implemented in viam::sdk::impl::MotorClient, and viam::sdk::impl::MotorClient.

The documentation for this class was generated from the following file:

src/viam/sdk/components/motor.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Function Documentation

◆ api()

◆ do_command()

◆ get_geometries() [1/2]

◆ get_geometries() [2/2]

◆ get_position() [1/2]

◆ get_position() [2/2]

◆ get_power_status() [1/2]

◆ get_power_status() [2/2]

◆ get_properties()

◆ go_for() [1/2]

◆ go_for() [2/2]

◆ go_to() [1/2]

◆ go_to() [2/2]

◆ is_moving()

◆ reset_zero_position() [1/2]

◆ reset_zero_position() [2/2]

◆ set_power() [1/2]

◆ set_power() [2/2]

◆ set_rpm() [1/2]

◆ set_rpm() [2/2]