Class GantryClient

constructor

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

  Parameters

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

  Returns GantryClient

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 gantry = new VIAM.GantryClient(machine, 'my_gantry');
  
  // Get the geometries of this component
  const geometries = await gantry.getGeometries();
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  For more information, see Gantry API.

getKinematics

• getKinematics(
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<GetKinematicsResult>

  Get the kinematics information associated with the gantry.

  Parameters

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

  Returns Promise<GetKinematicsResult>

  The legacy kinematics data shape or the newer object containing kinematics data plus a map of URDF mesh file paths to mesh data.

  Example

  const gantry = new VIAM.GantryClient(machine, 'my_gantry');
  
  // Get the kinematics information associated with the gantry
  const kinematics = await gantry.getKinematics();
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  For more information, see Gantry API.

getLengths

• getLengths(extra?: {}, callOptions?: CallOptions): Promise<number[]>

  Get the lengths of the axes of the gantry in millimeters.

  Parameters

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

  Returns Promise<number[]>

  A list of the length of each axis in millimeters.

  Example

  const gantry = new VIAM.GantryClient(machine, 'my_gantry');
  
  // Get the lengths of the axes in millimeters
  const lengths = await gantry.getLengths();
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  For more information, see Gantry API.

getPosition

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

  Get the current position of each axis.

  Parameters

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

  Returns Promise<number[]>

  A list of the current position of each axis in millimeters.

  Example

  const gantry = new VIAM.GantryClient(machine, 'my_gantry');
  
  // Get the current positions of the axes in millimeters
  const positions = await gantry.getPosition();
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  For more information, see Gantry API.

getStatus

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

  Get the status of the resource.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<JsonValue>

home

• home(extra?: {}, callOptions?: CallOptions): Promise<boolean>

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

  Parameters

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

  Returns Promise<boolean>

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

  Example

  const gantry = new VIAM.GantryClient(machine, 'my_gantry');
  
  // Run the homing sequence
  const success = await gantry.home();
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  For more information, see Gantry API.

isMoving

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

  Get if the gantry is currently moving.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<boolean>

  Example

  const gantry = new VIAM.GantryClient(machine, 'my_gantry');
  
  // Check if the gantry is moving
  const moving = await gantry.isMoving();
  console.log('Moving:', moving);
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  For more information, see Gantry API.

moveToPosition

• moveToPosition(
      positionsMm: number[],
      speedsMmPerSec: number[],
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

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

  Returns Promise<void>

  Example

  const gantry = new VIAM.GantryClient(machine, 'my_gantry');
  
  // Create positions for a 3-axis gantry
  const positions = [1, 2, 3];
  const speeds = [3, 9, 12];
  
  // Move the axes to the specified positions
  await gantry.moveToPosition(positions, speeds);
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  For more information, see Gantry API.

stop

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

  Stop the motion of the gantry.

  Parameters

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

  Returns Promise<void>

  Example

  const gantry = new VIAM.GantryClient(machine, 'my_gantry');
  
  // Stop all motion of the gantry
  await gantry.stop();
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  For more information, see Gantry API.