# robotic/server — Robotics REST API server

Expose motion and waypoint endpoints over HTTP using FastAPI/uvicorn.

## Usage

```bash
# Bind to all interfaces, port from ConnectionConfig
s6 robotic server --host 0.0.0.0

# Or via Python
python -m s6.app.robotic.server --host 0.0.0.0
```

## Key endpoints (prefix `/robotic`)
- `POST /move` — JSON `{"axis": "x"|"y"|..., "offset": int}` step a single axis.
- `POST /zero` — zero all axes.
- `POST /set-waypoint` — JSON `{"name": str}` save current pose as a waypoint.
- `POST /to-waypoint` — JSON `{"name": str}` move to a saved waypoint.
- `GET /waypoints` — list saved waypoints.
- `DELETE /waypoint/{name}` — delete a waypoint by name.

## How it works
- Loads `ConnectionConfig` to determine the listen port.
- Includes `s6.robotic.service.robotic_router` which implements the above routes
  backed by stepper `Axis` objects configured via `RoboticConfig`.