Class EncoderClient

constructor

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

  Parameters

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

  Returns EncoderClient

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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getPosition

• getPosition(
      positionType?: PositionType,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<readonly [number, PositionType]>

  Return the current position either in relative units (ticks away from a zero position) or absolute units (degrees along a circle).

  Parameters

  • positionType: PositionType = EncoderPositionType.UNSPECIFIED

    The type of position the encoder returns (ticks or degrees)
  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<readonly [number, PositionType]>

  Example

  const encoder = new VIAM.EncoderClient(machine, 'my_encoder');
  
  // Get the position of the encoder in ticks
  const [position, posType] = await encoder.getPosition(
    EncoderPositionType.POSITION_TYPE_TICKS_COUNT
  );
  console.log('The encoder position is currently', position, posType);
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  For more information, see Encoder API.

getProperties

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

  Return the encoder's properties.

  Parameters

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

  Returns Promise<encoderApi.GetPropertiesResponse>

  Example

  const encoder = new VIAM.EncoderClient(machine, 'my_encoder');
  
  // Get whether the encoder returns position in ticks or degrees
  const properties = await encoder.getProperties();
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  For more information, see Encoder API.

resetPosition

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

  Set the current position of the encoder as the new zero position.

  Parameters

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

  Returns Promise<void>

  Example

  const encoder = new VIAM.EncoderClient(machine, 'my_encoder');
  
  // Reset the zero position of the encoder
  await encoder.resetPosition();
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  For more information, see Encoder API.