Viam SDK
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    Interface MovementSensor

    Represents any sensor that reports information about the robot's direction, position, and/or speed.

    interface MovementSensor {
        name: string;
        doCommand(command: Struct | Record<string, JsonValue>): Promise<JsonValue>;
        getAccuracy(extra?: Struct): Promise<GetAccuracyResponse>;
        getAngularVelocity(
            extra?: Struct,
        ): Promise<PlainMessage<commonApi.Vector3>>;
        getCompassHeading(extra?: Struct): Promise<number>;
        getLinearAcceleration(
            extra?: Struct,
        ): Promise<PlainMessage<commonApi.Vector3>>;
        getLinearVelocity(extra?: Struct): Promise<PlainMessage<commonApi.Vector3>>;
        getOrientation(
            extra?: Struct,
        ): Promise<PlainMessage<commonApi.Orientation>>;
        getPosition(extra?: Struct): Promise<movementSensorApi.GetPositionResponse>;
        getProperties(
            extra?: Struct,
        ): Promise<movementSensorApi.GetPropertiesResponse>;
        getReadings(extra?: Struct): Promise<Record<string, JsonValue>>;
        getStatus(): Promise<JsonValue>;
    }

    Hierarchy (View Summary)

    Implemented by

    Index

    Properties

    name

    Methods

    doCommand getAccuracy getAngularVelocity getCompassHeading getLinearAcceleration getLinearVelocity getOrientation getPosition getProperties getReadings getStatus

    Properties

    name: string

    The name of the resource.

    Methods

    • 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.

      Returns Promise<JsonValue>

      // 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' } }));

    • Get the accuracy of various sensors.

      Parameters

      Returns Promise<GetAccuracyResponse>

      const movementSensor = new VIAM.MovementSensorClient(machine, 'my_movement_sensor');
      const accuracy = await movementSensor.getAccuracy();

      For more information, see Movement Sensor API.

    • Get the compass heading, which is a number from 0-359 where 0 is North, 90 is East, 180 is South, and 270 is West.

      Parameters

      Returns Promise<number>

      const movementSensor = new VIAM.MovementSensorClient(machine, 'my_movement_sensor');
      const compassHeading = await movementSensor.getCompassHeading();

      For more information, see Movement Sensor API.

    • Return the readings of a sensor.

      Parameters

      Returns Promise<Record<string, JsonValue>>

      const movementSensor = new VIAM.MovementSensorClient(machine, 'my_movement_sensor');
      const readings = await movementSensor.getReadings();

      For more information, see Movement Sensor API.

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