wirepod-vector-sdk-audio 0.9.0__py3-none-any.whl

anki_vector/messaging/settings_pb2.py

@@ -0,0 +1,72 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: anki_vector/messaging/settings.proto
+"""Generated protocol buffer code."""
+from google.protobuf.internal import builder as _builder
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from anki_vector.messaging import response_status_pb2 as anki__vector_dot_messaging_dot_response__status__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n$anki_vector/messaging/settings.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\"\xe2\x02\n\x13RobotSettingsConfig\x12\x15\n\rclock_24_hour\x18\x01 \x01(\x08\x12;\n\teye_color\x18\x02 \x01(\x0e\x32(.Anki.Vector.external_interface.EyeColor\x12\x18\n\x10\x64\x65\x66\x61ult_location\x18\x03 \x01(\t\x12\x16\n\x0e\x64ist_is_metric\x18\x04 \x01(\x08\x12\x0e\n\x06locale\x18\x05 \x01(\t\x12=\n\rmaster_volume\x18\x06 \x01(\x0e\x32&.Anki.Vector.external_interface.Volume\x12\x1a\n\x12temp_is_fahrenheit\x18\x07 \x01(\x08\x12\x11\n\ttime_zone\x18\x08 \x01(\t\x12G\n\x0f\x62utton_wakeword\x18\t \x01(\x0e\x32..Anki.Vector.external_interface.ButtonWakeWord\"u\n\x15\x41\x63\x63ountSettingsConfig\x12\x19\n\x0f\x64\x61ta_collection\x18\x01 \x01(\x08H\x00\x12\x14\n\napp_locale\x18\x02 \x01(\tH\x01\x42\x17\n\x15oneof_data_collectionB\x12\n\x10oneof_app_locale\"N\n\x16UserEntitlementsConfig\x12\x1a\n\x10kickstarter_eyes\x18\x01 \x01(\x08H\x00\x42\x18\n\x16oneof_kickstarter_eyes\"[\n\x04Jdoc\x12\x13\n\x0b\x64oc_version\x18\x01 \x01(\x04\x12\x13\n\x0b\x66mt_version\x18\x02 \x01(\x04\x12\x17\n\x0f\x63lient_metadata\x18\x03 \x01(\t\x12\x10\n\x08json_doc\x18\x04 \x01(\t\"{\n\tNamedJdoc\x12;\n\tjdoc_type\x18\x01 \x01(\x0e\x32(.Anki.Vector.external_interface.JdocType\x12\x31\n\x03\x64oc\x18\x02 \x01(\x0b\x32$.Anki.Vector.external_interface.Jdoc\"P\n\x10PullJdocsRequest\x12<\n\njdoc_types\x18\x01 \x03(\x0e\x32(.Anki.Vector.external_interface.JdocType\"\x93\x01\n\x11PullJdocsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12>\n\x0bnamed_jdocs\x18\x02 \x03(\x0b\x32).Anki.Vector.external_interface.NamedJdoc\"^\n\x15UpdateSettingsRequest\x12\x45\n\x08settings\x18\x01 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotSettingsConfig\"\xc5\x01\n\x16UpdateSettingsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x38\n\x04\x63ode\x18\x02 \x01(\x0e\x32*.Anki.Vector.external_interface.ResultCode\x12\x31\n\x03\x64oc\x18\x03 \x01(\x0b\x32$.Anki.Vector.external_interface.Jdoc\"o\n\x1cUpdateAccountSettingsRequest\x12O\n\x10\x61\x63\x63ount_settings\x18\x01 \x01(\x0b\x32\x35.Anki.Vector.external_interface.AccountSettingsConfig\"\xcc\x01\n\x1dUpdateAccountSettingsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x38\n\x04\x63ode\x18\x02 \x01(\x0e\x32*.Anki.Vector.external_interface.ResultCode\x12\x31\n\x03\x64oc\x18\x03 \x01(\x0b\x32$.Anki.Vector.external_interface.Jdoc\"r\n\x1dUpdateUserEntitlementsRequest\x12Q\n\x11user_entitlements\x18\x01 \x01(\x0b\x32\x36.Anki.Vector.external_interface.UserEntitlementsConfig\"\xcd\x01\n\x1eUpdateUserEntitlementsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x38\n\x04\x63ode\x18\x02 \x01(\x0e\x32*.Anki.Vector.external_interface.ResultCode\x12\x31\n\x03\x64oc\x18\x03 \x01(\x0b\x32$.Anki.Vector.external_interface.Jdoc\"L\n\x0cJdocsChanged\x12<\n\njdoc_types\x18\x01 \x03(\x0e\x32(.Anki.Vector.external_interface.JdocType*%\n\nApiVersion\x12\x0b\n\x07INVALID\x10\x00\x12\n\n\x06LATEST\x10\x01*R\n\x06Volume\x12\x08\n\x04MUTE\x10\x00\x12\x07\n\x03LOW\x10\x01\x12\x0e\n\nMEDIUM_LOW\x10\x02\x12\n\n\x06MEDIUM\x10\x03\x12\x0f\n\x0bMEDIUM_HIGH\x10\x04\x12\x08\n\x04HIGH\x10\x05*e\n\x08JdocType\x12\x12\n\x0eROBOT_SETTINGS\x10\x00\x12\x18\n\x14ROBOT_LIFETIME_STATS\x10\x01\x12\x14\n\x10\x41\x43\x43OUNT_SETTINGS\x10\x02\x12\x15\n\x11USER_ENTITLEMENTS\x10\x03*;\n\x11JdocResolveMethod\x12\x11\n\rPUSH_TO_CLOUD\x10\x00\x12\x13\n\x0fPULL_FROM_CLOUD\x10\x01*\xb5\x01\n\x0cRobotSetting\x12\x11\n\rclock_24_hour\x10\x00\x12\r\n\teye_color\x10\x01\x12\x14\n\x10\x64\x65\x66\x61ult_location\x10\x02\x12\x12\n\x0e\x64ist_is_metric\x10\x03\x12\n\n\x06locale\x10\x04\x12\x11\n\rmaster_volume\x10\x05\x12\x16\n\x12temp_is_fahrenheit\x10\x06\x12\r\n\ttime_zone\x10\x07\x12\x13\n\x0f\x62utton_wakeword\x10\x08*\xab\x01\n\x08\x45yeColor\x12\x11\n\rTIP_OVER_TEAL\x10\x00\x12\x12\n\x0eOVERFIT_ORANGE\x10\x01\x12\x12\n\x0eUNCANNY_YELLOW\x10\x02\x12\x13\n\x0fNON_LINEAR_LIME\x10\x03\x12\x18\n\x14SINGULARITY_SAPPHIRE\x10\x04\x12\x19\n\x15\x46\x41LSE_POSITIVE_PURPLE\x10\x05\x12\x1a\n\x16\x43ONFUSION_MATRIX_GREEN\x10\x06*K\n\x0e\x42uttonWakeWord\x12\x1e\n\x1a\x42UTTON_WAKEWORD_HEY_VECTOR\x10\x00\x12\x19\n\x15\x42UTTON_WAKEWORD_ALEXA\x10\x01*5\n\x0e\x41\x63\x63ountSetting\x12\x13\n\x0f\x44\x41TA_COLLECTION\x10\x00\x12\x0e\n\nAPP_LOCALE\x10\x01*\'\n\x0fUserEntitlement\x12\x14\n\x10KICKSTARTER_EYES\x10\x00*A\n\nResultCode\x12\x15\n\x11SETTINGS_ACCEPTED\x10\x00\x12\x1c\n\x18\x45RROR_UPDATE_IN_PROGRESS\x10\x01\x62\x06proto3')
+
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'anki_vector.messaging.settings_pb2', globals())
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  _APIVERSION._serialized_start=2141
+  _APIVERSION._serialized_end=2178
+  _VOLUME._serialized_start=2180
+  _VOLUME._serialized_end=2262
+  _JDOCTYPE._serialized_start=2264
+  _JDOCTYPE._serialized_end=2365
+  _JDOCRESOLVEMETHOD._serialized_start=2367
+  _JDOCRESOLVEMETHOD._serialized_end=2426
+  _ROBOTSETTING._serialized_start=2429
+  _ROBOTSETTING._serialized_end=2610
+  _EYECOLOR._serialized_start=2613
+  _EYECOLOR._serialized_end=2784
+  _BUTTONWAKEWORD._serialized_start=2786
+  _BUTTONWAKEWORD._serialized_end=2861
+  _ACCOUNTSETTING._serialized_start=2863
+  _ACCOUNTSETTING._serialized_end=2916
+  _USERENTITLEMENT._serialized_start=2918
+  _USERENTITLEMENT._serialized_end=2957
+  _RESULTCODE._serialized_start=2959
+  _RESULTCODE._serialized_end=3024
+  _ROBOTSETTINGSCONFIG._serialized_start=118
+  _ROBOTSETTINGSCONFIG._serialized_end=472
+  _ACCOUNTSETTINGSCONFIG._serialized_start=474
+  _ACCOUNTSETTINGSCONFIG._serialized_end=591
+  _USERENTITLEMENTSCONFIG._serialized_start=593
+  _USERENTITLEMENTSCONFIG._serialized_end=671
+  _JDOC._serialized_start=673
+  _JDOC._serialized_end=764
+  _NAMEDJDOC._serialized_start=766
+  _NAMEDJDOC._serialized_end=889
+  _PULLJDOCSREQUEST._serialized_start=891
+  _PULLJDOCSREQUEST._serialized_end=971
+  _PULLJDOCSRESPONSE._serialized_start=974
+  _PULLJDOCSRESPONSE._serialized_end=1121
+  _UPDATESETTINGSREQUEST._serialized_start=1123
+  _UPDATESETTINGSREQUEST._serialized_end=1217
+  _UPDATESETTINGSRESPONSE._serialized_start=1220
+  _UPDATESETTINGSRESPONSE._serialized_end=1417
+  _UPDATEACCOUNTSETTINGSREQUEST._serialized_start=1419
+  _UPDATEACCOUNTSETTINGSREQUEST._serialized_end=1530
+  _UPDATEACCOUNTSETTINGSRESPONSE._serialized_start=1533
+  _UPDATEACCOUNTSETTINGSRESPONSE._serialized_end=1737
+  _UPDATEUSERENTITLEMENTSREQUEST._serialized_start=1739
+  _UPDATEUSERENTITLEMENTSREQUEST._serialized_end=1853
+  _UPDATEUSERENTITLEMENTSRESPONSE._serialized_start=1856
+  _UPDATEUSERENTITLEMENTSRESPONSE._serialized_end=2061
+  _JDOCSCHANGED._serialized_start=2063
+  _JDOCSCHANGED._serialized_end=2139
+# @@protoc_insertion_point(module_scope)

anki_vector/messaging/settings_pb2_grpc.py

@@ -0,0 +1,3 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+import grpc
+

anki_vector/messaging/shared_pb2.py

@@ -0,0 +1,54 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: anki_vector/messaging/shared.proto
+"""Generated protocol buffer code."""
+from google.protobuf.internal import builder as _builder
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from anki_vector.messaging import behavior_pb2 as anki__vector_dot_messaging_dot_behavior__pb2
+from anki_vector.messaging import cube_pb2 as anki__vector_dot_messaging_dot_cube__pb2
+from anki_vector.messaging import alexa_pb2 as anki__vector_dot_messaging_dot_alexa__pb2
+from anki_vector.messaging import messages_pb2 as anki__vector_dot_messaging_dot_messages__pb2
+from anki_vector.messaging import settings_pb2 as anki__vector_dot_messaging_dot_settings__pb2
+from anki_vector.messaging import extensions_pb2 as anki__vector_dot_messaging_dot_extensions__pb2
+from anki_vector.messaging import response_status_pb2 as anki__vector_dot_messaging_dot_response__status__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a!anki_vector/messaging/alexa.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\xd1\x0e\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12O\n\x12\x61ttention_transfer\x18\x04 \x01(\x0b\x32\x31.Anki.Vector.external_interface.AttentionTransferH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12\x45\n\rjdocs_changed\x18\x0e \x01(\x0b\x32,.Anki.Vector.external_interface.JdocsChangedH\x00\x12J\n\x10\x61lexa_auth_event\x18\x0f \x01(\x0b\x32..Anki.Vector.external_interface.AlexaAuthEventH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x61\n\x1c\x63heck_update_status_response\x18\x12 \x01(\x0b\x32\x39.Anki.Vector.external_interface.CheckUpdateStatusResponseH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x12T\n\x15robot_observed_motion\x18\x14 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedMotionH\x00\x12]\n\x1arobot_erased_enrolled_face\x18\x15 \x01(\x0b\x32\x37.Anki.Vector.external_interface.RobotErasedEnrolledFaceH\x00\x12_\n\x1brobot_renamed_enrolled_face\x18\x16 \x01(\x0b\x32\x38.Anki.Vector.external_interface.RobotRenamedEnrolledFaceH\x00\x12V\n\x16\x63\x61mera_settings_update\x18\x17 \x01(\x0b\x32\x34.Anki.Vector.external_interface.CameraSettingsUpdateH\x00\x12Q\n\x13unexpected_movement\x18\x18 \x01(\x0b\x32\x32.Anki.Vector.external_interface.UnexpectedMovementH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
+
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'anki_vector.messaging.shared_pb2', globals())
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  _EVENTRESPONSE._options = None
+  _EVENTRESPONSE._serialized_options = b'\200\246\035\001'
+  _PROTOCOLVERSIONREQUEST._serialized_start=338
+  _PROTOCOLVERSIONREQUEST._serialized_end=412
+  _PROTOCOLVERSIONRESPONSE._serialized_start=415
+  _PROTOCOLVERSIONRESPONSE._serialized_end=582
+  _PROTOCOLVERSIONRESPONSE_RESULT._serialized_start=544
+  _PROTOCOLVERSIONRESPONSE_RESULT._serialized_end=582
+  _CONNECTIONRESPONSE._serialized_start=584
+  _CONNECTIONRESPONSE._serialized_end=688
+  _EVENT._serialized_start=691
+  _EVENT._serialized_end=2564
+  _FILTERLIST._serialized_start=2566
+  _FILTERLIST._serialized_end=2592
+  _EVENTREQUEST._serialized_start=2595
+  _EVENTREQUEST._serialized_end=2777
+  _EVENTRESPONSE._serialized_start=2780
+  _EVENTRESPONSE._serialized_end=2919
+  _USERAUTHENTICATIONREQUEST._serialized_start=2921
+  _USERAUTHENTICATIONREQUEST._serialized_end=2994
+  _USERAUTHENTICATIONRESPONSE._serialized_start=2997
+  _USERAUTHENTICATIONRESPONSE._serialized_end=3237
+  _USERAUTHENTICATIONRESPONSE_CODE._serialized_start=3197
+  _USERAUTHENTICATIONRESPONSE_CODE._serialized_end=3237
+# @@protoc_insertion_point(module_scope)

anki_vector/messaging/shared_pb2_grpc.py

@@ -0,0 +1,3 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+import grpc
+

anki_vector/motors.py

@@ -0,0 +1,127 @@
+# Copyright (c) 2018 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Control the motors of Vector.
+"""
+
+# __all__ should order by constants, event classes, other classes, functions.
+__all__ = ['MotorComponent']
+
+from . import connection, util
+from .messaging import protocol
+
+
+class MotorComponent(util.Component):
+    """Controls the low-level motor functions."""
+    @connection.on_connection_thread()
+    async def set_wheel_motors(self,
+                               left_wheel_speed: float,
+                               right_wheel_speed: float,
+                               left_wheel_accel: float = 0.0,
+                               right_wheel_accel: float = 0.0):
+        """Tell Vector to move his wheels / treads at a given speed.
+
+        The wheels will continue to move at that speed until commanded to drive
+        at a new speed, or if :meth:`stop_all_motors` is called.
+
+        To unlock the wheel track, call `set_wheel_motors(0, 0)`.
+
+        .. testcode::
+
+            import anki_vector
+            import time
+
+            with anki_vector.Robot() as robot:
+                robot.motors.set_wheel_motors(25, 50)
+                time.sleep(3.0)
+
+        :param left_wheel_speed: Speed of the left tread (in millimeters per second).
+        :param right_wheel_speed: Speed of the right tread (in millimeters per second).
+        :param left_wheel_accel: Acceleration of left tread (in millimeters per second squared)
+                            ``None`` value defaults this to the same as l_wheel_speed.
+        :param right_wheel_accel: Acceleration of right tread (in millimeters per second squared)
+                            ``None`` value defaults this to the same as r_wheel_speed.
+        """
+        motors = protocol.DriveWheelsRequest(left_wheel_mmps=left_wheel_speed,
+                                             right_wheel_mmps=right_wheel_speed,
+                                             left_wheel_mmps2=left_wheel_accel,
+                                             right_wheel_mmps2=right_wheel_accel)
+        return await self.grpc_interface.DriveWheels(motors)
+
+    @connection.on_connection_thread()
+    async def set_head_motor(self,
+                             speed: float):
+        """Tell Vector's head motor to move with a certain speed.
+
+        Positive speed for up, negative speed for down. Measured in radians per second.
+
+        To unlock the head track, call `set_head_motor(0)`.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                robot.motors.set_head_motor(-5.0)
+
+        :param speed: Motor speed for Vector's head, measured in radians per second.
+        """
+        set_head_request = protocol.MoveHeadRequest(speed_rad_per_sec=speed)
+        return await self.grpc_interface.MoveHead(set_head_request)
+
+    @connection.on_connection_thread()
+    async def set_lift_motor(self,
+                             speed: float):
+        """Tell Vector's lift motor to move with a certain speed.
+
+        Positive speed for up, negative speed for down. Measured in radians per second.
+
+        To unlock the lift track, call `set_lift_motor(0)`.
+
+        .. testcode::
+
+            import anki_vector
+            import time
+
+            with anki_vector.Robot() as robot:
+                robot.motors.set_lift_motor(-5.0)
+                time.sleep(3.0)
+                robot.motors.set_lift_motor(5.0)
+                time.sleep(3.0)
+
+        :param speed: Motor speed for Vector's lift, measured in radians per second.
+        """
+        set_lift_request = protocol.MoveLiftRequest(speed_rad_per_sec=speed)
+        return await self.grpc_interface.MoveLift(set_lift_request)
+
+    @connection.on_connection_thread()
+    async def stop_all_motors(self):
+        """Tell Vector to stop all motors.
+
+        .. testcode::
+
+            import anki_vector
+            import time
+
+            with anki_vector.Robot() as robot:
+                robot.motors.set_wheel_motors(25, 50)
+
+                # wait a short time to observe the motors moving
+                time.sleep(0.5)
+
+                robot.motors.stop_all_motors()
+        """
+        stop_all_motors_request = protocol.StopAllMotorsRequest()
+        return await self.grpc_interface.StopAllMotors(stop_all_motors_request)