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A sensor is a device that can measure information about the outside world. Add a sensor component to your machine to send the information the sensor measures to the computer controlling the machine.
Viam has three additional component types defined separately from sensor that you can use to implement sensors with specific functions:
Most machines with a sensor need at least the following hardware:
To use your sensor with Viam, check whether one of the following built-in models or modular resources supports your sensor.
For configuration information, click on the model name:
Search for additional sensor models that you can add from the Viam Registry:
For configuration information, click on the model name:
Model
Description
Please enable javascript to see and search models.
If none of the existing models fit your use case, you can create a modular resource to add support for it.
To get started using Viam’s SDKs to connect to and control your machine, go to your machine’s page on the Viam app, navigate to the Code sample tab, select your preferred programming language, and copy the sample code generated.
By default, the sample code does not include your machine API key and API key ID. We strongly recommend that you add your API key and API key ID as an environment variable and import this variable into your development environment as needed.
To show your machine’s API key and API key ID in the sample code, toggle Include secret on the Code sample tab. You can also see your API key and API key ID on your machine’s Security tab.
Do not share your API key or machine address publicly. Sharing this information could compromise your system security by allowing unauthorized access to your machine, or to the computer running your machine.
When executed, this sample code will create a connection to your machine as a client. Then control your machine programmatically by adding API method calls as shown in the following examples.
These examples assume you have a sensor called "my_sensor" configured as a component of your machine.
If your sensor has a different name, change the name in the code.
Be sure to import the sensor package for the SDK you are using:
from viam.components.sensor import Sensor
import (
"go.viam.com/rdk/components/sensor"
)
The sensor component supports the following methods:
Method NameDescriptionGetReadingsGet the measurements or readings that this sensor provides.GetGeometriesGet all the geometries associated with the sensor in its current configuration, in the frame of the sensor.DoCommandSend or receive model-specific commands.CloseSafely shut down the resource and prevent further use.Get the measurements or readings that this sensor provides.
Parameters:
extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.Returns:
For more information, see the Python SDK Docs.
my_sensor = Sensor.from_robot(robot=robot, name='my_sensor')
# Get the readings provided by the sensor.
readings = await my_sensor.get_readings()
Parameters:
ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.extra (map[string]interface{}): Extra options to pass to the underlying RPC call.Returns:
For more information, see the Go SDK Docs.
mySensor, err := sensor.FromRobot(robot, "my_sensor")
// Get the readings provided by the sensor.
readings, err := mySensor.Readings(context.Background(), nil)
Get all the geometries associated with the sensor in its current configuration, in the frame of the sensor. The motion and navigation services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning.
Parameters:
extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.Returns:
For more information, see the Python SDK Docs.
my_sensor = Sensor.from_robot(robot=robot, name="my_sensor")
geometries = await my_sensor.get_geometries()
if geometries:
# Get the center of the first geometry
print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")
Execute model-specific commands that are not otherwise defined by the component API.
For built-in models, model-specific commands are covered with each model’s documentation.
If you are implementing your own sensor and add features that have no built-in API method, you can access them with DoCommand.
Safely shut down the resource and prevent further use.
Parameters:
Returns:
my_sensor = Sensor.from_robot(robot, "my_sensor")
await my_sensor.close()
For more information, see the Python SDK Docs.
Parameters:
ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.Returns:
mySensor, err := sensor.FromRobot(robot, "my_sensor")
err := mySensor.Close(ctx)
For more information, see the Go SDK Docs.
You can find additional assistance in the Troubleshooting section.
You can also ask questions in the Community Discord and we will be happy to help.
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A sensor consists of three main components:
(1) The sensing section contains the sensor itself which is based on a particular technology. The variety of technologies means you can select a sensor technology which fits your application.
(2) The processing circuitry converts the physical variable into an electrical variable.
(3) The signal output contains the electronics connected to a control system.
Learn more about Balluff's sensors
If you are looking for more details, kindly visit our website.
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