Viam Encoder API

openapi: 3.2.0
info:
  title: Viam Component Encoder API
  description: 'REST/JSON transcoding of every Viam Component gRPC API — the hardware abstraction

    layer that lets any client speak the same uniform contract to motors, cameras, arms,

    sensors, and every other supported component class regardless of model.


    Canonical contracts: https://github.com/viamrobotics/api/tree/main/proto/viam/component


    Every component exposes DoCommand (model-specific extension), GetStatus, and

    GetGeometries in addition to its class-specific operations.

    '
  version: '2026.05'
  contact:
    name: Viam Support
    url: https://www.viam.com/contact
servers:
- url: https://{machine_address}
  description: Per-machine viam-server endpoint.
  variables:
    machine_address:
      default: machine.local.viam.cloud:443
security:
- ApiKeyAuth: []
tags:
- name: Encoder
  description: Position encoders.
paths:
  /viam.component.encoder.v1.EncoderService/GetPosition:
    post:
      summary: Viam Encoder Get Position
      description: Read the encoder's current position.
      operationId: encoderGetPosition
      tags:
      - Encoder
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              properties:
                name:
                  type: string
      responses:
        '200':
          description: Successful response.
  /viam.component.encoder.v1.EncoderService/ResetPosition:
    post:
      summary: Viam Encoder Reset Position
      description: Reset the encoder's zero position.
      operationId: encoderResetPosition
      tags:
      - Encoder
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              properties:
                name:
                  type: string
      responses:
        '200':
          description: Successful response.
components:
  securitySchemes:
    ApiKeyAuth:
      type: apiKey
      in: header
      name: key
      description: Viam API key or location secret.