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# Drive Servo

POST https://api.machanirobotics.com/v1/actuation/driveServo:drive
Content-Type: application/json

DriveServo allows controlling robot joints using euler/raw angles.

Reference: https://docs.machanirobotics.dev/v-2026-01-16-dev/2026-01-16-dev/latest/actuation-service/driveservo

## Request

### Body (application/json)

This endpoint expects a DriveServoRequest.

- `source` (integer, required) — Source of the request.
- `positions` (list of JointPosition, required) — Euler/Raw positions of the servos.

## Response

### 200

OK

## Errors

### 400 Bad Request Error

Bad Request

- `code` (integer, optional) — The status code, which should be an enum value of [google.rpc.Code][google.rpc.Code].
- `message` (string, optional) — A developer-facing error message, which should be in English. Any user-facing error message should be localized and sent in the [google.rpc.Status.details][google.rpc.Status.details] field, or localized by the client.
- `details` (list of GoogleProtobufAny, optional) — A list of messages that carry the error details. There is a common set of message types for APIs to use.

## Types

### JointPosition

JointPosition specifies a joint name and a value for movement. Caution: Do not send the same joint more than once in the same request, as the joint_name is unique.

- `joint` (integer, required) — Joint name specifies a servo to move.
- `angle` (Euler1f, optional) — Euler angle to move to.
- `raw` (integer, optional) — Raw servo position to move to.

### GoogleProtobufAny

Contains an arbitrary serialized message along with a @type that describes the type of the serialized message.

- `@type` (string, optional) — The type of the serialized message.

### Euler1f

Euler1f represents a 1-dimensional angle in radians.

- `radians` (double, optional) — radians is the angle in radians.

## Examples

**Request**

```json
{
  "source": 2,
  "positions": [
    {
      "joint": 3
    }
  ]
}
```

**Response**

```json
{}
```

**SDK Code**

```python
import requests

url = "https://api.machanirobotics.com/v1/actuation/driveServo:drive"

payload = {
    "source": 2,
    "positions": [{ "joint": 3 }]
}
headers = {"Content-Type": "application/json"}

response = requests.post(url, json=payload, headers=headers)

print(response.json())
```

```javascript
const url = 'https://api.machanirobotics.com/v1/actuation/driveServo:drive';
const options = {
  method: 'POST',
  headers: {'Content-Type': 'application/json'},
  body: '{"source":2,"positions":[{"joint":3}]}'
};

try {
  const response = await fetch(url, options);
  const data = await response.json();
  console.log(data);
} catch (error) {
  console.error(error);
}
```

```go
package main

import (
	"fmt"
	"strings"
	"net/http"
	"io"
)

func main() {

	url := "https://api.machanirobotics.com/v1/actuation/driveServo:drive"

	payload := strings.NewReader("{\n  \"source\": 2,\n  \"positions\": [\n    {\n      \"joint\": 3\n    }\n  ]\n}")

	req, _ := http.NewRequest("POST", url, payload)

	req.Header.Add("Content-Type", "application/json")

	res, _ := http.DefaultClient.Do(req)

	defer res.Body.Close()
	body, _ := io.ReadAll(res.Body)

	fmt.Println(res)
	fmt.Println(string(body))

}
```

```ruby
require 'uri'
require 'net/http'

url = URI("https://api.machanirobotics.com/v1/actuation/driveServo:drive")

http = Net::HTTP.new(url.host, url.port)
http.use_ssl = true

request = Net::HTTP::Post.new(url)
request["Content-Type"] = 'application/json'
request.body = "{\n  \"source\": 2,\n  \"positions\": [\n    {\n      \"joint\": 3\n    }\n  ]\n}"

response = http.request(request)
puts response.read_body
```

```java
import com.mashape.unirest.http.HttpResponse;
import com.mashape.unirest.http.Unirest;

HttpResponse<String> response = Unirest.post("https://api.machanirobotics.com/v1/actuation/driveServo:drive")
  .header("Content-Type", "application/json")
  .body("{\n  \"source\": 2,\n  \"positions\": [\n    {\n      \"joint\": 3\n    }\n  ]\n}")
  .asString();
```

```php
<?php
require_once('vendor/autoload.php');

$client = new \GuzzleHttp\Client();

$response = $client->request('POST', 'https://api.machanirobotics.com/v1/actuation/driveServo:drive', [
  'body' => '{
  "source": 2,
  "positions": [
    {
      "joint": 3
    }
  ]
}',
  'headers' => [
    'Content-Type' => 'application/json',
  ],
]);

echo $response->getBody();
```

```csharp
using RestSharp;

var client = new RestClient("https://api.machanirobotics.com/v1/actuation/driveServo:drive");
var request = new RestRequest(Method.POST);
request.AddHeader("Content-Type", "application/json");
request.AddParameter("application/json", "{\n  \"source\": 2,\n  \"positions\": [\n    {\n      \"joint\": 3\n    }\n  ]\n}", ParameterType.RequestBody);
IRestResponse response = client.Execute(request);
```

```swift
import Foundation

let headers = ["Content-Type": "application/json"]
let parameters = [
  "source": 2,
  "positions": [["joint": 3]]
] as [String : Any]

let postData = JSONSerialization.data(withJSONObject: parameters, options: [])

let request = NSMutableURLRequest(url: NSURL(string: "https://api.machanirobotics.com/v1/actuation/driveServo:drive")! as URL,
                                        cachePolicy: .useProtocolCachePolicy,
                                    timeoutInterval: 10.0)
request.httpMethod = "POST"
request.allHTTPHeaderFields = headers
request.httpBody = postData as Data

let session = URLSession.shared
let dataTask = session.dataTask(with: request as URLRequest, completionHandler: { (data, response, error) -> Void in
  if (error != nil) {
    print(error as Any)
  } else {
    let httpResponse = response as? HTTPURLResponse
    print(httpResponse)
  }
})

dataTask.resume()
```