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 CheckSpeed(rpm, max float64) (string, error)
• func CreateStatus(ctx context.Context, m Motor) (*pb.Status, error)
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewControlParametersUnimplementedError() error
• func NewGoToUnsupportedError(motorName string) error
• func NewPropertyUnsupportedError(prop Properties, motorName string) error
• func NewRPCServiceServer(coll resource.APIResourceCollection[Motor]) interface{}
• func NewResetZeroPositionUnsupportedError(motorName string) error
• func NewSetRPMUnsupportedError(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 CheckSpeed

func CheckSpeed(rpm, max float64) (string, error)

CheckSpeed checks if the input rpm is too slow or fast and returns a warning and/or error.

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 NewControlParametersUnimplementedError

func NewControlParametersUnimplementedError() error

NewControlParametersUnimplementedError returns an error when a control parameters are unimplemented in the config being used of a controlledMotor.

func NewGoToUnsupportedError

func NewGoToUnsupportedError(motorName string) error

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

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 NewSetRPMUnsupportedError

func NewSetRPMUnsupportedError(motorName string) error

NewSetRPMUnsupportedError returns an error when a motor does not support SetRPM.

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 corresponds to a backward direction of rotation.
	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 != 0, this will block until the number of revolutions has been completed or another operation comes in.
	// Deprecated: If revolutions is 0, this will run the motor at rpm indefinitely.
	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

	// SetRPM instructs the motor to move at the specified RPM indefinitely.
	SetRPM(ctx context.Context, rpm float64, extra map[string]interface{}) error

	// Set an encoded motor's 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 an encoded 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.

SetPower example:

myMotorComponent, err := motor.FromRobot(machine, "my_motor")
// Set the motor power to 40% forwards.
myMotorComponent.SetPower(context.Background(), 0.4, nil)

GoFor example:

myMotorComponent, err := motor.FromRobot(machine, "my_motor")
// Turn the motor 7.2 revolutions at 60 RPM.
myMotorComponent.GoFor(context.Background(), 60, 7.2, nil)

GoTo example:

// Turn the motor to 8.3 revolutions from home at 75 RPM.
myMotorComponent.GoTo(context.Background(), 75, 8.3, nil)

ResetZeroPosition example:

// Set the current position as the new home position with no offset.
myMotorComponent.ResetZeroPosition(context.Background(), 0.0, nil)

Position example:

// Get the current position of an encoded motor.
position, err := myMotorComponent.Position(context.Background(), nil)

// Log the position
logger.Info("Position:")
logger.Info(position)

Properties example:

// Return whether or not the motor supports certain optional features.
properties, err := myMotorComponent.Properties(context.Background(), nil)

// Log the properties.
logger.Info("Properties:")
logger.Info(properties)

IsPowered example:

// Check whether the motor is currently running.
powered, pct, err := myMotorComponent.IsPowered(context.Background(), nil)

logger.Info("Is powered?")
logger.Info(powered)
logger.Info("Power percent:")
logger.Info(pct)

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.