motor

Documentation

Overview

Package motor contains a gRPC bases motor client

Package motor contains a struct representing optional motor properties

Package motor contains a gRPC based motor service server

Index

• Constants
• Variables
• func CreateStatus(ctx context.Context, m Motor) (*pb.Status, error)
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewGoToUnsupportedError(motorName string) error
• func NewIsPoweredCollector(resource interface{}, params data.CollectorParams) (data.Collector, error)
• func NewPositionCollector(resource interface{}, params data.CollectorParams) (data.Collector, error)
• func NewPropertyUnsupportedError(prop Properties, motorName string) error
• func NewRPCServiceServer(coll resource.APIResourceCollection[Motor]) interface{}
• func NewResetZeroPositionUnsupportedError(motorName string) error
• func NewZeroRPMError() error
• func PropertiesToProtoResponse(props Properties) (*pb.GetPropertiesResponse, error)
• type Motor
  • func FromDependencies(deps resource.Dependencies, name string) (Motor, error)
  • func FromRobot(r robot.Robot, name string) (Motor, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (Motor, error)
• type Properties
  • func ProtoFeaturesToProperties(resp *pb.GetPropertiesResponse) Properties

Constants

const SubtypeName = "motor"

SubtypeName is a constant that identifies the component resource API string "motor".

Variables

var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)

API is a variable that identifies the component resource API.

Functions

func CreateStatus

func CreateStatus(ctx context.Context, m Motor) (*pb.Status, error)

CreateStatus creates a status from the motor.

func Named

func Named(name string) resource.Name

Named is a helper for getting the named Motor's typed resource name.

func NamesFromRobot

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all motor names from the given Robot.

func NewGoToUnsupportedError

func NewGoToUnsupportedError(motorName string) error

NewGoToUnsupportedError returns error when a motor is required to support GoTo feature.

func NewIsPoweredCollector

func NewIsPoweredCollector(resource interface{}, params data.CollectorParams) (data.Collector, error)

NewIsPoweredCollector returns a collector to register an is powered method. If one is already registered with the same MethodMetadata it will panic.

func NewPositionCollector

func NewPositionCollector(resource interface{}, params data.CollectorParams) (data.Collector, error)

NewPositionCollector returns a collector to register a position method. If one is already registered with the same MethodMetadata it will panic.

func NewPropertyUnsupportedError

func NewPropertyUnsupportedError(prop Properties, motorName string) error

NewPropertyUnsupportedError returns an error representing the need for a motor to support a particular property.

func NewRPCServiceServer

func NewRPCServiceServer(coll resource.APIResourceCollection[Motor]) interface{}

NewRPCServiceServer constructs a motor gRPC service server. It is intentionally untyped to prevent use outside of tests.

func NewResetZeroPositionUnsupportedError

func NewResetZeroPositionUnsupportedError(motorName string) error

NewResetZeroPositionUnsupportedError returns a standard error for when a motor is required to support reseting the zero position.

func NewZeroRPMError

func NewZeroRPMError() error

NewZeroRPMError returns an error representing a request to move a motor at zero speed (i.e., moving the motor without moving the motor).

func PropertiesToProtoResponse

func PropertiesToProtoResponse(
	props Properties,
) (*pb.GetPropertiesResponse, error)

PropertiesToProtoResponse takes a Properties struct (indicating whether the property is supported) and converts it to a GetPropertiesResponse.

Types

type Motor

type Motor interface {
	resource.Resource
	resource.Actuator

	// SetPower sets the percentage of power the motor should employ between -1 and 1.
	// Negative power implies a backward directional rotational
	SetPower(ctx context.Context, powerPct float64, extra map[string]interface{}) error

	// GoFor instructs the motor to go in a specific direction for a specific amount of
	// revolutions at a given speed in revolutions per minute. Both the RPM and the revolutions
	// can be assigned negative values to move in a backwards direction. Note: if both are
	// negative the motor will spin in the forward direction.
	// If revolutions is 0, this will run the motor at rpm indefinitely
	// If revolutions != 0, this will block until the number of revolutions has been completed or another operation comes in.
	GoFor(ctx context.Context, rpm, revolutions float64, extra map[string]interface{}) error

	// GoTo instructs the motor to go to a specific position (provided in revolutions from home/zero),
	// at a specific speed. Regardless of the directionality of the RPM this function will move the motor
	// towards the specified target/position
	// This will block until the position has been reached
	GoTo(ctx context.Context, rpm, positionRevolutions float64, extra map[string]interface{}) error

	// Set the current position (+/- offset) to be the new zero (home) position.
	ResetZeroPosition(ctx context.Context, offset float64, extra map[string]interface{}) error

	// Position reports the position of the motor based on its encoder. If it's not supported, the returned
	// data is undefined. The unit returned is the number of revolutions which is intended to be fed
	// back into calls of GoFor.
	Position(ctx context.Context, extra map[string]interface{}) (float64, error)

	// Properties returns whether or not the motor supports certain optional properties.
	Properties(ctx context.Context, extra map[string]interface{}) (Properties, error)

	// IsPowered returns whether or not the motor is currently on, and the percent power (between 0
	// and 1, if the motor is off then the percent power will be 0).
	IsPowered(ctx context.Context, extra map[string]interface{}) (bool, float64, error)
}

A Motor represents a physical motor connected to a board.

func FromDependencies

func FromDependencies(deps resource.Dependencies, name string) (Motor, error)

FromDependencies is a helper for getting the named motor from a collection of dependencies.

func FromRobot

func FromRobot(r robot.Robot, name string) (Motor, error)

FromRobot is a helper for getting the named motor from the given Robot.

func NewClientFromConn

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger logging.Logger,
) (Motor, error)

NewClientFromConn constructs a new Client from connection passed in.

type Properties

type Properties struct {
	PositionReporting bool
}

Properties is struct contaning the motor properties.

func ProtoFeaturesToProperties

func ProtoFeaturesToProperties(resp *pb.GetPropertiesResponse) Properties

ProtoFeaturesToProperties takes a GetPropertiesResponse and returns an equivalent Properties struct.