viam::sdk::Servo Class Reference

#include "components/servo.hpp"

Inheritance diagram for viam::sdk::Servo:

Public Types
typedef uint32_t	position

Public Member Functions
API	api () const override
	Returns the API associated with a particular resource.
void	move (uint32_t angle_deg)
	Move the servo to the provided angle.
virtual void	move (uint32_t angle_deg, const ProtoStruct &extra)=0
	Move the servo to the provided angle.
position	get_position ()
	Get the current angle (degrees) of the servo.
virtual position	get_position (const ProtoStruct &extra)=0
	Reports the position of the robot's servo relative to its zero position.
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 GeometryConfigs associated with the calling servo.
virtual std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra)=0
	Returns GeometryConfigs associated with the calling servo.
Public Member Functions inherited from viam::sdk::Component
Name	get_resource_name () const override
	Returns the Name for a particular resource.
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.

Protected Member Functions
	Servo (std::string name)
Protected Member Functions inherited from viam::sdk::Component
	Component (std::string name)
Protected Member Functions inherited from viam::sdk::Resource
Name	get_resource_name (const std::string &type) const

Additional Inherited Members
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.

Detailed Description

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

Member Function Documentation

api()

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

overridevirtual

Returns the API associated with a particular resource.

Implements viam::sdk::Resource.

do_command()

virtual ProtoStruct viam::sdk::Servo::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::ServoClient.

get_geometries() [1/2]

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

inline

Returns GeometryConfigs associated with the calling servo.

Returns

The requested GeometryConfigs associated with the component.

get_geometries() [2/2]

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

pure virtual

Returns GeometryConfigs associated with the calling servo.

Parameters

extra

Any additional arguments to the method.

Returns

The requested GeometryConfigs associated with the component.

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

get_position() [1/2]

position viam::sdk::Servo::get_position ( )

inline

Get the current angle (degrees) of the servo.

Exceptions

`Exception`

if position reporting is not supported

get_position() [2/2]

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

pure virtual

Reports the position of the robot's servo 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::ServoClient, and viam::sdk::impl::ServoClient.

is_moving()

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

pure virtual

Reports if a component is in motion.

Implemented in viam::sdk::impl::ServoClient.

move() [1/2]

void viam::sdk::Servo::move ( uint32_t angle_deg )

inline

Move the servo to the provided angle.

Parameters

angle_deg

The desired angle of the servo in degrees.

move() [2/2]

virtual void viam::sdk::Servo::move ( uint32_t angle_deg, const ProtoStruct & extra )

pure virtual

Move the servo to the provided angle.

Parameters

angle_deg	The desired angle of the servo in degrees.
extra	Any additional arguments to the method.

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

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

• src/viam/sdk/components/servo.hpp