# Servo API The servo API allows you to give commands to your [servo components](https://docs.viam.com/reference/components/servo/) for controlling the angular position of a hobby servo precisely or getting its current status. Industrial servos should use the [motor API](https://docs.viam.com/reference/apis/components/motor/) which provides more features than the servo API. The servo component supports the following methods: | Method Name | Description | `viam-micro-server` Support | | --- | --- | --- | | [`Move`](https://docs.viam.com/reference/apis/components/servo/#move) | Move the servo to the desired angle in degrees. | | | [`GetPosition`](https://docs.viam.com/reference/apis/components/servo/#getposition) | Get the current set angle of the servo in degrees. | | | [`IsMoving`](https://docs.viam.com/reference/apis/components/servo/#ismoving) | Returns whether the servo is actively moving (or attempting to move) under its own power. | | | [`Stop`](https://docs.viam.com/reference/apis/components/servo/#stop) | Stop the servo from moving. | | | [`GetGeometries`](https://docs.viam.com/reference/apis/components/servo/#getgeometries) | Get all the geometries associated with the servo in its current configuration, in the frame of the servo. | | | [`Reconfigure`](https://docs.viam.com/reference/apis/components/servo/#reconfigure) | Reconfigure this resource. | | | [`DoCommand`](https://docs.viam.com/reference/apis/components/servo/#docommand) | Execute model-specific commands that are not otherwise defined by the component API. | | | [`GetResourceName`](https://docs.viam.com/reference/apis/components/servo/#getresourcename) | Get the `ResourceName` for this servo. | | | [`Close`](https://docs.viam.com/reference/apis/components/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`. - [Python](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-1-0) - [Go](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-1-1) - [TypeScript](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-1-2) - [Flutter](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-1-3) **Parameters:** - `angle` ( [int](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (required): The desired angle of the servo in degrees. - `extra` (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (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:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/servo/client/index.html#viam.components.servo.client.ServoClient.move). ### GetPosition Get the current set angle of the servo in degrees. Supported by `viam-micro-server`. - [Python](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-2-0) - [Go](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-2-1) - [TypeScript](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-2-2) - [Flutter](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-2-3) **Parameters:** - `extra` (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - ( [int](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)): : The current angle of the servo in degrees. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/servo/client/index.html#viam.components.servo.client.ServoClient.get_position). ### IsMoving Returns whether the servo is actively moving (or attempting to move) under its own power. - [Python](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-3-0) - [Go](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-3-1) - [TypeScript](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-3-2) - [Flutter](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-3-3) **Parameters:** - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - ( [bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): : Whether the servo is moving. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/servo/client/index.html#viam.components.servo.client.ServoClient.is_moving). ### Stop Stop the servo from moving. Supported by `viam-micro-server`. - [Python](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-4-0) - [Go](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-4-1) - [TypeScript](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-4-2) - [Flutter](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-4-3) **Parameters:** **Returns:** - None. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/servo/client/index.html#viam.components.servo.client.ServoClient.stop). ### GetGeometries Get all the geometries associated with the servo in its current configuration, in the [frame](https://docs.viam.com/reference/services/frame-system/) of the servo. The [motion](https://docs.viam.com/reference/services/motion/) and [navigation](https://docs.viam.com/reference/services/navigation/) services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning. - [Python](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-5-0) **Parameters:** **Returns:** - ( [List[viam.proto.common.Geometry]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Geometry)): : The geometries associated with the Component. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/servo/client/index.html#viam.components.servo.client.ServoClient.get_geometries). ### Reconfigure Reconfigure this resource. Reconfigure must reconfigure the resource atomically and in place. - [Go](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-6-0) **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `deps` [(Dependencies)](https://pkg.go.dev/go.viam.com/rdk/resource#Dependencies): The resource dependencies. - `conf` [(Config)](https://pkg.go.dev/go.viam.com/rdk/resource#Config): The resource configuration. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource). ### 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`](https://docs.viam.com/reference/sdks/docommand/). - [Python](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-7-0) - [Go](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-7-1) - [TypeScript](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-7-2) - [Flutter](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-7-3) **Parameters:** - `command` (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), ValueTypes]) (required): The command to execute. - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (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](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): : Result of the executed command. **Raises:** - (NotImplementedError): Raised if the Resource does not support arbitrary commands. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/servo/client/index.html#viam.components.servo.client.ServoClient.do_command). ### GetResourceName Get the `ResourceName` for this servo. - [Python](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-8-0) - [Go](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-8-1) - [TypeScript](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-8-2) - [Flutter](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-8-3) **Parameters:** - `name` ( [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The name of the Resource. **Returns:** - ( [viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName)): : The ResourceName of this Resource. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/servo/client/index.html#viam.components.servo.client.ServoClient.get_resource_name). ### Close Safely shut down the resource and prevent further use. - [Python](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-9-0) - [Go](https://docs.viam.com/reference/apis/components/servo/#tabset-referenceapiscomponentsservo-9-1) **Parameters:** - None. **Returns:** - None. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/servo/client/index.html#viam.components.servo.client.ServoClient.close).