Servo API | Component APIs
Servo API
The servo API allows you to give commands to your servo components for controlling the angular position of a hobby servo precisely or getting its current status.
Industrial servos should use the motor API which provides more features than the servo API.
The servo component supports the following methods:
| Method Name | Description | viam-micro-server Support |
|---|---|---|
Move |
Move the servo to the desired angle in degrees. | |
GetPosition |
Get the current set angle of the servo in degrees. | |
IsMoving |
Returns whether the servo is actively moving (or attempting to move) under its own power. | |
Stop |
Stop the servo from moving. | |
GetGeometries |
Get all the geometries associated with the servo in its current configuration, in the frame of the servo. | |
Reconfigure |
Reconfigure this resource. | |
DoCommand |
Execute model-specific commands that are not otherwise defined by the component API. | |
GetResourceName |
Get the ResourceName for this servo. |
|
Close |
Safely shut down the resource and prevent further use. |
API
Move
Move the servo to the desired angle in degrees.
Stability Notice
Support for continuous servos with the GPIO servo model is experimental. Stability is not guaranteed. Breaking changes are likely to occur, and occur often.
If you are using a continuous rotation servo, you can use the Move command, but instead of moving to a given position, the servo will start moving at a set speed.
The speed will be related to the “angle” you pass in as a linear approximation. 90 degrees represents stop, 91 to 180 represents counter-clockwise rotation from slowest to fastest, and 89 to 1 represents clockwise from slowest to fastest. It is recommended that you test your servo to determine the desired speed.
Supported by viam-micro-server.
Parameters:
angle( int) (required): The desired angle of the servo in degrees.extra(Mapping[ str, Any]) (optional): Extra options to pass to the underlying RPC call.timeout( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
Returns:
- None.
Example:
For more information, see the Python SDK Docs.
GetPosition
Get the current set angle of the servo in degrees. Supported by viam-micro-server.
Parameters:
extra(Mapping[ str, Any]) (optional): Extra options to pass to the underlying RPC call.timeout( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
Returns:
- ( int): : The current angle of the servo in degrees.
Example:
For more information, see the Python SDK Docs.
IsMoving
Returns whether the servo is actively moving (or attempting to move) under its own power.
Parameters:
timeout( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
Returns:
- ( bool): : Whether the servo is moving.
Example:
For more information, see the Python SDK Docs.
Stop
Stop the servo from moving. Supported by viam-micro-server.
Parameters:
Returns:
- None.
Example:
For more information, see the Python SDK Docs.
GetGeometries
Get all the geometries associated with the servo in its current configuration, in the frame of the servo. The motion and navigation services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning.
Parameters:
Returns:
- ( List[viam.proto.common.Geometry]): : The geometries associated with the Component.
Example:
For more information, see the Python SDK Docs.
Reconfigure
Reconfigure this resource. Reconfigure must reconfigure the resource atomically and in place.
Parameters:
ctx(Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.deps(Dependencies): The resource dependencies.conf(Config): The resource configuration.
Returns:
- (error): An error, if one occurred.
For more information, see the Go SDK Docs.
DoCommand
Execute model-specific commands that are not otherwise defined by the component API. Most models do not implement DoCommand. Any available model-specific commands should be covered in the model’s documentation. If you are implementing your own servo and want to add features that have no corresponding built-in API method, you can implement them with DoCommand.
Parameters:
command(Mapping[ str, ValueTypes]) (required): The command to execute.timeout( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
Returns:
- (Mapping[ str, viam.utils.ValueTypes]): : Result of the executed command.
Raises:
- (NotImplementedError): Raised if the Resource does not support arbitrary commands.
Example:
For more information, see the Python SDK Docs.
GetResourceName
Get the ResourceName for this servo.
Parameters:
name( str) (required): The name of the Resource.
Returns:
- ( viam.proto.common.ResourceName): : The ResourceName of this Resource.
Example:
For more information, see the Python SDK Docs.
Close
Safely shut down the resource and prevent further use.
Parameters:
- None.
Returns:
- None.
Example:
For more information, see the Python SDK Docs.