mock_robot_python_code

mock_robot_viam

import asyncio

from viam.robot.client import RobotClient
from viam.rpc.dial import Credentials, DialOptions
from viam.components.arm import Arm
from viam.components.motor import Motor
from viam.components.board import Board
from viam.components.arm import ArmClient, JointPositions
import random
import asyncio

# Gets a random position for each servo on the arm that is within the safe range of motion of the arm. Returns a new array of safe joint positions.
def getRandoms():
    return [random.randint(-90, 90),
    random.randint(-120, -45),
    random.randint(-45, 45),
    random.randint(-45, 45),
    random.randint(-45, 45)]

# Moves the arm into a new random position every second
async def randomMovement(arm: ArmClient):
    while (True):
        randomPositions = getRandoms()
        newRandomArmJointPositions = JointPositions(values=randomPositions)
        await arm.move_to_joint_positions(newRandomArmJointPositions)
        print(await arm.get_joint_positions())
        await asyncio.sleep(1)
    return
async def connect():
    creds = Credentials(
        type='robot-location-secret',
        payload='YOUR_SECRET_HERE')
    opts = RobotClient.Options(
        refresh_interval=0,
        dial_options=DialOptions(credentials=creds)
    )
      return await RobotClient.at_address('YOUR_ROBOT_ADDR_HERE', opts)

async def main():
    robot = await connect()

    print('Resources:')
    print(robot.resource_names)
    
    # myArm
    my_arm = Arm.from_robot(robot, "myArm")
    my_arm_return_value = await my_arm.get_end_position()
    print(f"myArm get_end_position return value: {my_arm_return_value}")

    # myMotor
    my_motor = Motor.from_robot(robot, "myMotor")
    my_motor_return_value = await my_motor.is_moving()
    print(f"myMotor is_moving return value: {my_motor_return_value}")
    
    # Note that the pin supplied is a placeholder. Please change this to a valid pin you are using.
    # myPi
    my_pi = Board.from_robot(robot, "myPi")
    my_pi_return_value = await my_pi.gpio_pin_by_name("16")
    print(f"myPi gpio_pin_by_name return value: {my_pi_return_value}")
    

    arm = ArmClient.from_robot(robot=robot, name='myArm')
    await randomMovement(arm)



    # Don't forget to close the robot when you're done!
    await robot.close()

if __name__ == '__main__':
    asyncio.run(main())