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servomotor-mcp

by Gearotons
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Python
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trapezoid_move

Move a servomotor by a relative displacement over a specified duration at the current speed. Queues the motion and returns immediately; poll queued items to confirm completion.

Instructions

Move immediately to the given position using the currently set speed (the speed is set by a separate command) [Firmware command "Trapezoid move", group: Motion Control.] NOTE: The displacement is RELATIVE to the current position. This QUEUES the move and returns immediately; poll get_n_queued_items for completion, or use move_to/move_relative which wait. Requires enable_mosfets first. Parameters:

  • displacement (in degrees): The displacement to travel. Can be positive or negative.

  • duration (in seconds): The time over which to do the move. Returns: success confirmation. motor: an alias number (e.g. 88), a 16-hex-digit unique ID (e.g. "0123456789ABCDEF"), or "all" to broadcast to every motor on the bus (broadcasts get no responses back).

Input Schema

TableJSON Schema
NameRequiredDescriptionDefault
motorYes
durationYes
displacementYes

Schema Changelog

Changes observed during successful MCP inspections.

  1. Changed5 schema fields changedv0.3.1
    • removedInput schema / properties / degrees
      Removed value: -{
-  "title": "Degrees",
-  "type": "number"
-}
    • addedInput schema / properties / displacement
      Added value: +{
+  "title": "Displacement",
+  "type": "number"
+}
    • addedInput schema / properties / duration
      Added value: +{
+  "title": "Duration",
+  "type": "number"
+}
    • removedInput schema / properties / duration_s
      Removed value: -{
-  "title": "Duration S",
-  "type": "number"
-}
    • changedInput schema / required
      Previous value: -[
-  "motor",
-  "degrees",
-  "duration_s"
-]New value: +[
+  "motor",
+  "displacement",
+  "duration"
+]
  2. First observedv0.1.0

TDQS

A5/5.0
Behavior5/5

Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?

With no annotations provided, the description carries the full burden of behavioral disclosure. It fully delivers: the move is relative, queued, non-blocking, requires enable_mosfets, broadcasts get no responses, and completion should be checked via get_n_queued_items. This is strong transparency for a motion-control command.

Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.

Conciseness5/5

Is the description appropriately sized, front-loaded, and free of redundancy?

The description is information-dense but well-organized: core semantics first, then queuing behavior and prerequisites, then parameter details. Every sentence adds value, and the critical relative-move and non-blocking facts are front-loaded.

Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.

Completeness5/5

Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?

For a tool with no output schema and no annotations, the description covers all operational essentials: what the move does, how it behaves, prerequisites, parameter meanings, return behavior, and how to monitor completion. An agent has enough context to call this tool correctly and to choose it over alternatives.

Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.

Parameters5/5

Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?

The input schema has 0% description coverage, so the description must explain all three parameters. It does: displacement is in degrees and can be positive or negative, duration is in seconds, and motor can be an alias, a 16-hex-digit ID, or 'all' with broadcast caveats. This fully compensates for the bare schema.

Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.

Purpose5/5

Does the description clearly state what the tool does and how it differs from similar tools?

The description clearly states a specific action: move to a position via a trapezoid move, with the key semantic that displacement is relative to the current position. It also distinguishes itself from siblings by noting it queues the move and returns immediately, unlike move_to/move_relative which wait.

Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.

Usage Guidelines5/5

Does the description explain when to use this tool, when not to, or what alternatives exist?

It explicitly explains when to use this tool versus alternatives: use this when you want a queued, non-blocking move, or use move_to/move_relative when you want to wait for completion. It also states a prerequisite: enable_mosfets must be called first.

Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.

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