Viam Motor API

openapi: 3.2.0
info:
  title: Viam Component Motor 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: Motor
  description: DC, servo, and stepper motors.
paths:
  /viam.component.motor.v1.MotorService/SetPower:
    post:
      summary: Viam Motor Set Power
      description: Set the motor's power as a signed fraction of full power.
      operationId: motorSetPower
      tags:
      - Motor
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              - power_pct
              properties:
                name:
                  type: string
                power_pct:
                  type: number
      responses:
        '200':
          description: Successful response.
  /viam.component.motor.v1.MotorService/GoFor:
    post:
      summary: Viam Motor Go For
      description: Spin the motor at an RPM for a specified number of revolutions.
      operationId: motorGoFor
      tags:
      - Motor
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              - rpm
              - revolutions
              properties:
                name:
                  type: string
                rpm:
                  type: number
                revolutions:
                  type: number
      responses:
        '200':
          description: Successful response.
  /viam.component.motor.v1.MotorService/GoTo:
    post:
      summary: Viam Motor Go To
      description: Move the motor to a target position at an RPM.
      operationId: motorGoTo
      tags:
      - Motor
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              - rpm
              - position_revolutions
              properties:
                name:
                  type: string
                rpm:
                  type: number
                position_revolutions:
                  type: number
      responses:
        '200':
          description: Successful response.
  /viam.component.motor.v1.MotorService/SetRPM:
    post:
      summary: Viam Motor Set Rpm
      description: Spin the motor continuously at the requested RPM.
      operationId: motorSetRPM
      tags:
      - Motor
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              - rpm
              properties:
                name:
                  type: string
                rpm:
                  type: number
      responses:
        '200':
          description: Successful response.
  /viam.component.motor.v1.MotorService/Stop:
    post:
      summary: Viam Motor Stop
      description: Stop the motor.
      operationId: motorStop
      tags:
      - Motor
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              properties:
                name:
                  type: string
      responses:
        '200':
          description: Successful response.
  /viam.component.motor.v1.MotorService/IsPowered:
    post:
      summary: Viam Motor Is Powered
      description: Check whether the motor is currently powered.
      operationId: motorIsPowered
      tags:
      - Motor
      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.