Class GantryClient

A gRPC-web client for the Gantry component.

Hierarchy

  • GantryClient

Implements

Constructors

constructor

Properties

client name options

Accessors

GantryService

Methods

doCommand getLengths getPosition home isMoving moveToPosition stop

Constructors

constructor

Properties

Private client

client: GantryServiceClient

Private Readonly name

name: string

Private Readonly options

options: Options

Accessors

Private GantryService

  • get GantryService(): GantryServiceClient

  • Returns GantryServiceClient

Methods

doCommand

  • Send/Receive arbitrary commands to the resource.

    Parameters

    Returns Promise<StructType>

getLengths

  • Returns

    The lengths of the axes of the gantry in millimeters.

    Parameters

    • extra: {} = {}

      Returns Promise<number[]>

    getPosition

    • Returns

      The current position of each axis.

      Parameters

      • extra: {} = {}

        Returns Promise<number[]>

      home

      • Runs the homing sequence to find the start and end positions of the gantry axis.

        Returns

        A bool representing whether the gantry has run the homing sequence successfully.

        Parameters

        • extra: {} = {}

          Returns Promise<boolean>

        isMoving

        • Get if the gantry is currently moving.

          Returns Promise<boolean>

        moveToPosition

        • Move each axis of the gantry to the positionsMm at the speeds in speedsMmPerSec

          Parameters

          • positionsMm: number[]

            The goal positions for each axis of the gantry.

          • speedsMmPerSec: number[]

            The desired speed for each axis to move to the respective position in positionsMm.

          • extra: {} = {}

            Returns Promise<void>

          stop

          • Stops the motion of the gantry.

            Parameters

            • extra: {} = {}

              Returns Promise<void>

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