A simple example of how to implement a custom motor model and how to extend it with a custom DoCommand in Python. To create the file structure and generate the boiler plate code segments, the Viam Module Generator was used.

A robot instance has been created and is registered with the viam cloud backend.

1. Clone the Github repo
2. Get the path to the run.sh file
3. Go to Viam App
4. Add a new module to the configuration: Name: mymotor and Executable Path: <-Your-Path-To->/run.sh
5. Add a new component to the configuration:

    {
      "namespace": "rdk",
      "attributes": {},
      "depends_on": [],
      "type": "motor",
      "name": "mymotor",
      "model": "custom:motor:mymotor"
    }

6. If not running already start the viam-server

1. Create a .env file in the same directory as the run.sh file
2. Add your credentials to it:

    ADDRESS=robot.organisation.viam.cloud
    SECRET=your-secret

3. Run python robot.py -> you should see the following console output:

    mymotor is_moving return value: True
    Check the log entries on app.viam.com!

4. In the viam server console output or via app.viam.com under Logs you should be able to find the following entry:

Command log with message executed!

5. Feel free to play with the do_command client in robot.py and the execution part in mymotor.py to trigger a warning message in the logs or customize it to your needs.