Class BaseClient

constructor

• new BaseClient(client: Client, name: string, options?: Options): BaseClient

  Parameters

  • client: Client
  • name: string
  • options: Options = {}

  Returns BaseClient

callOptions

Readonlyname

doCommand

• doCommand(
      command: Struct | Record<string, JsonValue>,
      callOptions?: CallOptions,
  ): Promise<JsonValue>

  Send/Receive arbitrary commands to the resource.

  Parameters

  • command: Struct | Record<string, JsonValue>

    The command to execute. Accepts either a Struct or a plain object, which will be converted automatically.

  • callOptions: CallOptions = ...

  Returns Promise<JsonValue>

  Example

  // Plain object (recommended)
  const result = await resource.doCommand({
    myCommand: { key: 'value' },
  });
  
  // Struct (still supported)
  import { Struct } from '@viamrobotics/sdk';
  
  const result = await resource.doCommand(Struct.fromJson({ myCommand: { key: 'value' } }));
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getGeometries

• getGeometries(
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<commonApi.Geometry[]>

  Get the geometries of the component in their current configuration

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<commonApi.Geometry[]>

  Example

  const base = new VIAM.BaseClient(machine, 'my_base');
  const geometries = await base.getGeometries();
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  For more information, see Base API.

getProperties

• getProperties(
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<baseApi.GetPropertiesResponse>

  Return the base's properties.

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<baseApi.GetPropertiesResponse>

  Example

  const base = new VIAM.BaseClient(machine, 'my_base');
  const properties = await base.getProperties();
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  For more information, see Base API.

getStatus

• getStatus(callOptions?: CallOptions): Promise<JsonValue>

  Get the status of the resource.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<JsonValue>

isMoving

• isMoving(callOptions?: CallOptions): Promise<boolean>

  Return true if the base is in motion.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<boolean>

  Example

  const base = new VIAM.BaseClient(machine, 'my_base');
  const moving = await base.isMoving();
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  For more information, see Base API.

moveStraight

• moveStraight(
      distanceMm: number,
      mmPerSec: number,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Move a base in a straight line by a given distance at a given speed. This method blocks until completed or cancelled.

  Parameters

  • distanceMm: number

    Distance to move, in millimeters.

  • mmPerSec: number

    Movement speed, in millimeters per second.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const base = new VIAM.BaseClient(machine, 'my_base');
  
  // Move forward 40mm at 90mm/s
  await base.moveStraight(40, 90);
  
  // Move backward 40mm at -90mm/s (backwards)
  await base.moveStraight(40, -90);
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  For more information, see Base API.

setPower

• setPower(
      linear: Vector3,
      angular: Vector3,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Set the linear and angular power of a base from -1 to 1 in terms of power for each direction.

  Parameters

  • linear: Vector3

    Desired linear power percentage from -1 to 1.

  • angular: Vector3

    Desired angular power percentage from -1 to 1.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const base = new VIAM.BaseClient(machine, 'my_base');
  
  // Move forward at 75% power
  await base.setPower(
    { x: 0, y: 0.75, z: 0 }, // linear power
    { x: 0, y: 0, z: 0 }, // no rotation
  );
  
  // Move straight back at 100% power
  await base.setPower(
    { x: 0, y: -1, z: 0 }, // linear power
    { x: 0, y: 0, z: 0 }, // no rotation
  );
  
  // Turn counter-clockwise at 50% power
  await base.setPower(
    { x: 0, y: 0, z: 0 }, // no linear movement
    { x: 0, y: 0, z: 0.5 }, // rotate around z-axis
  );
  
  // Turn clockwise at 60% power
  await base.setPower(
    { x: 0, y: 0, z: 0 }, // no linear movement
    { x: 0, y: 0, z: -0.6 }, // rotate around z-axis
  );
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  For more information, see Base API.

setVelocity

• setVelocity(
      linear: Vector3,
      angular: Vector3,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Set the linear and angular velocity of a base.

  Parameters

  • linear: Vector3

    Desired linear velocity in millimeters per second.

  • angular: Vector3

    Desired angular velocity in degrees per second.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const base = new VIAM.BaseClient(machine, 'my_base');
  
  // Move forward at 50mm/s while spinning 15 degrees per second to the left
  await base.setVelocity(
    { x: 0, y: 50, z: 0 }, // linear velocity in mm/s
    { x: 0, y: 0, z: 15 }, // 15 degrees per second counter-clockwise
  );
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  For more information, see Base API.

spin

• spin(
      angleDeg: number,
      degsPerSec: number,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Spin a base by a given angle at a given angular speed. This method blocks until completed or cancelled.

  Parameters

  • angleDeg: number

    Degrees to spin.

  • degsPerSec: number

    Angular speed, in degrees per second.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const base = new VIAM.BaseClient(machine, 'my_base');
  
  // Spin 10 degrees clockwise at 15 degrees per second
  await base.spin(10, 15);
  
  // Spin 180 degrees counter-clockwise at 20 degrees per second
  await base.spin(-180, 20);
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  For more information, see Base API.

stop

• stop(extra?: {}, callOptions?: CallOptions): Promise<void>

  Stop a base

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const base = new VIAM.BaseClient(machine, 'my_base');
  await base.stop();
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  For more information, see Base API.