servo

Documentation

Overview

Package servo contains a gRPC bases servo client

Package servo contains a gRPC based servo service server

Package servo supports “RC” or “hobby” servo motors. For more information, see the servo component docs.

Index

• Constants
• Variables
• func CreateStatus(ctx context.Context, s Servo) (*pb.Status, error)
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewRPCServiceServer(coll resource.APIResourceCollection[Servo]) interface{}
• type Servo
  • func FromRobot(r robot.Robot, name string) (Servo, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (Servo, error)

Constants

const SubtypeName = "servo"

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

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, s Servo) (*pb.Status, error)

CreateStatus creates a status from the servo.

func Named

func Named(name string) resource.Name

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

func NamesFromRobot

func NamesFromRobot(r robot.Robot) []string

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

func NewRPCServiceServer

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

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

Types

type Servo

type Servo interface {
	resource.Resource
	resource.Actuator

	// Move moves the servo to the given angle (0-180 degrees).
	// This will block until done or a new operation cancels this one.
	Move(ctx context.Context, angleDeg uint32, extra map[string]interface{}) error

	// Position returns the current set angle (degrees) of the servo.
	Position(ctx context.Context, extra map[string]interface{}) (uint32, error)
}

A Servo represents a physical servo connected to a board. For more information, see the servo component docs.

Move example:

// Move the servo from its origin to the desired angle of 30 degrees.
myServoComponent.Move(context.Background(), 30, nil)

Position example:

// Get the current set angle of the servo.
pos1, err := myServoComponent.Position(context.Background(), nil)

// Move the servo from its origin to the desired angle of 20 degrees.
myServoComponent.Move(context.Background(), 20, nil)

// Get the current set angle of the servo.
pos2, err := myServoComponent.Position(context.Background(), nil)

logger.Info("Position 1: ", pos1)
logger.Info("Position 2: ", pos2)

func FromRobot

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

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

func NewClientFromConn

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

NewClientFromConn constructs a new Client from connection passed in.