Class MotorClient

A gRPC-web client for the Motor component.

Implements

Motor

Index

Constructors

Properties

client name options

Accessors

Methods

doCommand getPosition getProperties goFor goTo isMoving isPowered resetZeroPosition setPower setRPM stop

Constructors

constructor

new MotorClient(client, name, options?): MotorClient
Parameters
- client: RobotClient
- name: string
- options: Options = {}
Returns MotorClient

Properties

`Private` client

client: MotorServiceClient

`Private` `Readonly` name

name: string

`Private` `Readonly` options

options: Options

Accessors

`Private` motorService

get motorService(): MotorServiceClient
Returns MotorServiceClient

Methods

doCommand

doCommand(command): Promise<StructType>
Parameters
- command: StructType
Returns Promise<StructType>
Implementation of Motor.doCommand

getPosition

getPosition(extra?): Promise<number>
Return the position of the motor relative to its zero position. Raise an error if position reporting is not supported.
Parameters
- extra: {} = {}
Returns Promise<number>
Implementation of Motor.getPosition

getProperties

getProperties(extra?): Promise<{
positionReporting: boolean;
}>
Return the motor's properties.
Parameters
- extra: {} = {}
Returns Promise<{
positionReporting: boolean;
}>
Implementation of Motor.getProperties

goFor

goFor(rpm, revolutions, extra?): Promise<void>
Turn the motor at a specified speed for either a specified number of revolutions or indefinitely. Raise an error if position reporting is not supported.
Parameters
- rpm: number
  Speed in revolutions per minute.
- revolutions: number
  Number of revolutions relative to the motor's starting position. If this value is 0, this will run the motor at the given rpm indefinitely. If this value is nonzero, this will block until the number of revolutions has been completed or another operation comes in.
- extra: {} = {}
Returns Promise<void>
Implementation of Motor.goFor

goTo

goTo(rpm, positionRevolutions, extra?): Promise<void>
Move the motor to a specific position relative to its home position at a specified speed. Raise an error if position reporting is not supported.
Parameters
- rpm: number
  Speed in revolutions per minute.
- positionRevolutions: number
  Number of revolutions relative to the motor's home position.
- extra: {} = {}
Returns Promise<void>
Implementation of Motor.goTo

isMoving

isMoving(): Promise<boolean>
Return true if the motor is in motion.

Returns Promise<boolean>
Implementation of Motor.isMoving

isPowered

isPowered(extra?): Promise<readonly [boolean, number]>
Return true if the motor is on.
Parameters
- extra: {} = {}
Returns Promise<readonly [boolean, number]>
Implementation of Motor.isPowered

resetZeroPosition

resetZeroPosition(offset, extra?): Promise<void>
Set the current position of the motor as the new zero position, offset by a given position. Raise an error if position reporting is not supported.
Parameters
- offset: number
  Position from which to offset the current position.
- extra: {} = {}
Returns Promise<void>
Implementation of Motor.resetZeroPosition

setPower

setPower(power, extra?): Promise<void>
Set the percentage of the motor's total power that should be employed.
Parameters
- power: number
  A value between -1 and 1 where negative values indicate a backwards direction and positive values a forward direction.
- extra: {} = {}
Returns Promise<void>
Implementation of Motor.setPower

setRPM

setRPM(rpm, extra?): Promise<void>
Move the motor indefinitely at a specified speed. Raise an error if position reporting is not supported.
Parameters
- rpm: number
  Speed in revolutions per minute.
- extra: {} = {}
Returns Promise<void>
Implementation of Motor.setRPM

stop

stop(extra?): Promise<void>
Turn the motor off.
Parameters
- extra: {} = {}
Returns Promise<void>
Implementation of Motor.stop

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