s6.robotic.service

Robotic service utilities and FastAPI endpoints.

This module wires s6.robotic.stepper.Axis instances from configuration (s6.schema.robotic.RoboticConfig) and exposes a set of operations for motion and waypoint management. A small FastAPI router is provided to publish these operations over HTTP.

The top-level helpers (e.g., move(), to_waypoint()) implement the core behavior and can be used directly without running the web service.

s6.robotic.service.axes() → Dict[str, Axis]

Build and cache axis drivers from configuration.

Returns:

Mapping of axis name to s6.robotic.stepper.Axis driver.

Return type:

Dict[str, Axis]

Notes

Positions are loaded from the config on first access and persisted on interpreter exit. Boundaries are set to [-30, 30] in distance units.

s6.robotic.service.move(axis: str, offset: int)

Move an axis by a relative distance and persist positions.

Parameters:

• axis (str) – Axis name (e.g., "x", "y").

• offset (int) – Relative distance in axis units (e.g., millimeters). Converted to steps via calibration.

s6.robotic.service.set_waypoint(name: str)

Create or update a named waypoint.

The current positions of all axes are stored under name.

Parameters:

name (str) – Waypoint identifier. Replaces any existing waypoint with the same name.

s6.robotic.service.to_waypoint(name: str)

Move axes to a previously saved named waypoint.

Parameters:

name (str) – Name of an existing s6.schema.robotic.Waypoint.

s6.robotic.service.list_waypoints() → List[Waypoint]

Return the list of stored waypoints.

Returns:

See s6.schema.robotic.Waypoint for the schema.

Return type:

list of Waypoint

s6.robotic.service.zero()

Zero all axes by moving back to position 0.

s6.robotic.service.set_brightness(duty_cycle: float)

Set the IR LED duty cycle.

Notes

This function delegates to an ir_led() provider which is expected to be available in the application runtime. It is left intentionally untyped here since it is an integration point.

s6.robotic.service.delete_waypoint(name: str) → bool

Delete a waypoint by name and persist the change.

Parameters:

name (str) – Waypoint to remove.

Returns:

True if a waypoint was removed, False if none matched.

Return type:

bool

class s6.robotic.service.MoveRequest(*, axis: str, offset: int)

Bases: BaseModel

Request body for POST /robotic/move.

axis: str

offset: int

class s6.robotic.service.WaypointNameRequest(*, name: str)

Bases: BaseModel

Request body containing a waypoint name.

name: str

s6.robotic.service.move_endpoint(req: MoveRequest)

s6.robotic.service.zero_endpoint()

s6.robotic.service.set_waypoint_endpoint(req: WaypointNameRequest)

s6.robotic.service.to_waypoint_endpoint(req: WaypointNameRequest)

s6.robotic.service.list_waypoints_endpoint()

s6.robotic.service.delete_waypoint_endpoint(name: str)