robotic/server — Robotics REST API server

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

Usage

# 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.