Documentation
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Overview ¶
Package gantry contains a gRPC based gantry client.
Package gantry contains a gRPC based gantry service server.
Index ¶
Constants ¶
const SubtypeName = "gantry"
SubtypeName is a constant that identifies the component resource API string "gantry".
Variables ¶
var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)
API is a variable that identifies the component resource API.
Functions ¶
func CreateStatus ¶
CreateStatus creates a status from the gantry.
func NamesFromRobot ¶
NamesFromRobot is a helper for getting all gantry names from the given Robot.
func NewRPCServiceServer ¶ added in v0.2.36
func NewRPCServiceServer(coll resource.APIResourceCollection[Gantry]) interface{}
NewRPCServiceServer constructs an gantry gRPC service server. It is intentionally untyped to prevent use outside of tests.
Types ¶
type Gantry ¶
type Gantry interface { resource.Resource resource.Actuator referenceframe.ModelFramer referenceframe.InputEnabled // Position returns the position in meters. Position(ctx context.Context, extra map[string]interface{}) ([]float64, error) // MoveToPosition is in meters. // This will block until done or a new operation cancels this one. MoveToPosition(ctx context.Context, positionsMm, speedsMmPerSec []float64, extra map[string]interface{}) error // Lengths is the length of gantries in meters. Lengths(ctx context.Context, extra map[string]interface{}) ([]float64, error) // Home runs the homing sequence of the gantry and returns true once completed. Home(ctx context.Context, extra map[string]interface{}) (bool, error) }
Gantry is used for controlling gantries of N axis.
Position example:
myGantry, err := gantry.FromRobot(machine, "my_gantry") // Get the current positions of the axes of the gantry in millimeters. position, err := myGantry.Position(context.Background(), nil)
MoveToPosition example:
myGantry, err := gantry.FromRobot(machine, "my_gantry") // Create a list of positions for the axes of the gantry to move to. // Assume in this example that the gantry is multi-axis, with 3 axes. examplePositions := []float64{1, 2, 3} exampleSpeeds := []float64{3, 9, 12} // Move the axes of the gantry to the positions specified. myGantry.MoveToPosition(context.Background(), examplePositions, exampleSpeeds, nil)
Lengths example:
myGantry, err := gantry.FromRobot(machine, "my_gantry") // Get the lengths of the axes of the gantry in millimeters. lengths_mm, err := myGantry.Lengths(context.Background(), nil)
Home example:
myGantry, err := gantry.FromRobot(machine, "my_gantry") myGantry.Home(context.Background(), nil)
func FromDependencies ¶
func FromDependencies(deps resource.Dependencies, name string) (Gantry, error)
FromDependencies is a helper for getting the named gantry from a collection of dependencies.
Directories
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Path | Synopsis |
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Package fake implements a fake gantry.
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Package fake implements a fake gantry. |
Package multiaxis implements a multi-axis gantry.
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Package multiaxis implements a multi-axis gantry. |
Package register registers all relevant gantries
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Package register registers all relevant gantries |
Package singleaxis implements a single-axis gantry.
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Package singleaxis implements a single-axis gantry. |