Viam Documentation

func spinMotor(ctx context.Context, motor motor.Motor, logger logging.Logger) {
  // Turn the motor at 35% power forwards
  err = motor.SetPower(context.Background(), 0.35, nil)
  // Let the motor spin for 3 seconds
  time.Sleep(3 * time.Second)
  // Stop the motor
  err = motor.Stop(context.Background(), nil)
}

async function spinMotor(motorClient: VIAM.MotorClient) {
  // Turn the motor at 35% power forwards
  await motorClient.setPower(0.35);
  // Let the motor spin for 3 seconds
  const sleep = (ms: number) =>
    new Promise((resolve) => setTimeout(resolve, ms));
  await sleep(3000);
  // Stop the motor
  await motorClient.stop();
}

Future<void> spinMotor() async {
  // Turn the motor at 35% power forwards
  await motorClient.setPower(0.35);
  // Let the motor spin for 3 seconds
  await Future.delayed(Duration(seconds: 3));
  // Stop the motor
  await motorClient.stop();
}

void spin_motor(std::shared_ptr<viam::sdk::Motor> motor) {
  // Turn the motor at 35% power forwards
  motor->set_power(0.35);
  // Let the motor spin for 3 seconds
  sleep(3);
  // Stop the motor
  motor->stop();
}

// Get the readings provided by the sensor.
co2Monitor, err := sensor.FromRobot(machine, "co2-monitor")
co2MonitorReturnValue, err := co2Monitor.Readings(
  context.Background(), map[string]interface{}{})
logger.Infof("co2-monitor return value: %+v", co2MonitorReturnValue)

// Get the readings provided by the sensor.
const co2MonitorClient = new VIAM.SensorClient(machine, "co2-monitor");
const co2MonitorReturnValue = await co2MonitorClient.getReadings();
console.log("co2-monitor return value:", co2MonitorReturnValue);

// Get the readings provided by the sensor.
final co2Monitor = Sensor.fromRobot(client, "co2-monitor");
var readings = await co2Monitor.readings();
print(readings);

// Get the readings provided by the sensor.
auto co2monitor = machine->resource_by_name<Sensor>("co2-monitor");
auto co2monitor_get_readings_return_value = co2monitor->get_readings();
std::cout << "co2-monitor get_readings return value " << co2monitor_get_readings_return_value << "\n";

// Command a joint position move: move the forearm of the arm slightly up
cmdJointPositions := &armapi.JointPositions{Values: []float64{0.0, 0.0, -30.0, 0.0, 0.0, 0.0}}
err = myArmComponent.MoveToJointPositions(context.Background(), cmdJointPositions, nil)

// Generate a simple pose move +100mm in the +Z direction of the arm
currentArmPose, err := myArmComponent.EndPosition(context.Background(), nil)
adjustedArmPoint := currentArmPose.Point()
adjustedArmPoint.Z += 100.0
cmdArmPose := spatialmath.NewPose(adjustedArmPoint, currentArmPose.Orientation())

err = myArmComponent.MoveToPosition(context.Background(), cmdArmPose, referenceframe.NewEmptyWorldState(), nil)