@thi.ng/axidraw 1.1.38 → 1.1.40

package/axidraw.js

@@ -9,7 +9,9 @@ import { DIN_A3_LANDSCAPE } from "@thi.ng/units/constants/paper-sizes";
 import { convert, div, Quantity } from "@thi.ng/units/unit";
 import { inch } from "@thi.ng/units/units/length";
 import { abs2 } from "@thi.ng/vectors/abs";
-import { ZERO2, } from "@thi.ng/vectors/api";
+import {
+  ZERO2
+} from "@thi.ng/vectors/api";
 import { clamp2 } from "@thi.ng/vectors/clamp";
 import { maddN2 } from "@thi.ng/vectors/maddn";
 import { mag } from "@thi.ng/vectors/mag";
@@ -17,383 +19,390 @@ import { mulN2 } from "@thi.ng/vectors/muln";
 import { set2 } from "@thi.ng/vectors/set";
 import { zero } from "@thi.ng/vectors/setn";
 import { sub2 } from "@thi.ng/vectors/sub";
-import { AxiDrawState, } from "./api.js";
+import {
+  AxiDrawState
+} from "./api.js";
 import { complete, HOME, OFF, ON, PEN, UP } from "./commands.js";
 import { AxiDrawControl } from "./control.js";
 import { SERIAL_PORT } from "./serial.js";
-export const DEFAULT_OPTS = {
-    serial: SERIAL_PORT,
-    logger: new ConsoleLogger("axidraw"),
-    control: new AxiDrawControl(),
-    refresh: 1000,
-    bounds: DIN_A3_LANDSCAPE,
-    home: [0, 0],
-    unitsPerInch: 25.4,
-    stepsPerInch: 2032,
-    speedDown: 4000,
-    speedUp: 4000,
-    up: 60,
-    down: 30,
-    delayUp: 150,
-    delayDown: 150,
-    preDelay: 0,
-    start: [ON, PEN(), UP()],
-    stop: [UP(), HOME, OFF],
-    sigint: true,
+const DEFAULT_OPTS = {
+  serial: SERIAL_PORT,
+  logger: new ConsoleLogger("axidraw"),
+  control: new AxiDrawControl(),
+  refresh: 1e3,
+  bounds: DIN_A3_LANDSCAPE,
+  home: [0, 0],
+  unitsPerInch: 25.4,
+  stepsPerInch: 2032,
+  speedDown: 4e3,
+  speedUp: 4e3,
+  up: 60,
+  down: 30,
+  delayUp: 150,
+  delayDown: 150,
+  preDelay: 0,
+  start: [ON, PEN(), UP()],
+  stop: [UP(), HOME, OFF],
+  sigint: true
 };
-export class AxiDraw {
-    serial;
-    opts;
-    isConnected = false;
-    isPenDown = false;
-    penLimits;
-    penState = [];
-    pos = [0, 0];
-    targetPos = [0, 0];
-    homePos;
-    scale;
-    bounds;
-    constructor(opts = {}) {
-        this.opts = { ...DEFAULT_OPTS, ...opts };
-        this.penLimits = [this.opts.down, this.opts.up];
-        this.scale = this.opts.stepsPerInch / this.opts.unitsPerInch;
-        this.setHome(this.opts.home);
-        if (this.opts.bounds) {
-            this.bounds =
-                this.opts.bounds instanceof Quantity
-                    ? [
-                        [0, 0],
-                        convert(this.opts.bounds, div(inch, this.opts.stepsPerInch)),
-                    ]
-                    : [
-                        mulN2([], this.opts.bounds[0], this.scale),
-                        mulN2([], this.opts.bounds[1], this.scale),
-                    ];
-        }
-        this.save();
-    }
-    reset() {
-        zero(this.pos);
-        zero(this.targetPos);
-        this.send("R\r");
-        return this;
+class AxiDraw {
+  serial;
+  opts;
+  isConnected = false;
+  isPenDown = false;
+  penLimits;
+  penState = [];
+  pos = [0, 0];
+  targetPos = [0, 0];
+  homePos;
+  scale;
+  bounds;
+  constructor(opts = {}) {
+    this.opts = { ...DEFAULT_OPTS, ...opts };
+    this.penLimits = [this.opts.down, this.opts.up];
+    this.scale = this.opts.stepsPerInch / this.opts.unitsPerInch;
+    this.setHome(this.opts.home);
+    if (this.opts.bounds) {
+      this.bounds = this.opts.bounds instanceof Quantity ? [
+        [0, 0],
+        convert(
+          this.opts.bounds,
+          div(inch, this.opts.stepsPerInch)
+        )
+      ] : [
+        mulN2([], this.opts.bounds[0], this.scale),
+        mulN2([], this.opts.bounds[1], this.scale)
+      ];
     }
-    /**
-     * Async function. Attempts to connect to the drawing machine via given
-     * (partial) serial port path/name, returns true if successful.
-     *
-     * @remarks
-     * First matching port will be used. If `path` is a sting, a port name must
-     * only start with it in order to be considered a match.
-     *
-     * An error is thrown if no matching port could be found.
-     *
-     * @param path
-     */
-    async connect(path = "/dev/tty.usbmodem") {
-        const isStr = isString(path);
-        for (let port of await this.opts.serial.list(path.toString())) {
-            if ((isStr && port.path.startsWith(path)) ||
-                (!isStr && path.test(port.path))) {
-                this.opts.logger.info(`using device: ${port.path}...`);
-                this.serial = this.opts.serial.ctor(port.path, 38400);
-                this.isConnected = true;
-                if (this.opts.sigint) {
-                    this.opts.logger.debug("installing signal handler...");
-                    process.on("SIGINT", this.onSignal.bind(this));
-                }
-                return;
-            }
+    this.save();
+  }
+  reset() {
+    zero(this.pos);
+    zero(this.targetPos);
+    this.send("R\r");
+    return this;
+  }
+  /**
+   * Async function. Attempts to connect to the drawing machine via given
+   * (partial) serial port path/name, returns true if successful.
+   *
+   * @remarks
+   * First matching port will be used. If `path` is a sting, a port name must
+   * only start with it in order to be considered a match.
+   *
+   * An error is thrown if no matching port could be found.
+   *
+   * @param path
+   */
+  async connect(path = "/dev/tty.usbmodem") {
+    const isStr = isString(path);
+    for (let port of await this.opts.serial.list(path.toString())) {
+      if (isStr && port.path.startsWith(path) || !isStr && path.test(port.path)) {
+        this.opts.logger.info(`using device: ${port.path}...`);
+        this.serial = this.opts.serial.ctor(port.path, 38400);
+        this.isConnected = true;
+        if (this.opts.sigint) {
+          this.opts.logger.debug("installing signal handler...");
+          process.on("SIGINT", this.onSignal.bind(this));
         }
-        ioerror(`no matching device for ${path}`);
-    }
-    disconnect() {
-        this.serial.close();
+        return;
+      }
     }
-    /**
-     * Async function. Converts sequence of {@link DrawCommand}s into actual EBB
-     * commands and sends them via configured serial port to the AxiDraw. If
-     * `wrap` is enabled (default), the given commands will be automatically
-     * wrapped with start/stop commands via {@link complete}. Returns object of
-     * collected {@link Metrics}. If `showMetrics` is enabled (default), the
-     * metrics will also be written to the configured logger.
-     *
-     * @remarks
-     * This function is async and if using `await` will only return once all
-     * commands have been processed or cancelled.
-     *
-     * The `control` implementation/ provided as part of {@link AxiDrawOpts} can
-     * be used to pause, resume or cancel the drawing (see
-     * {@link AxiDrawOpts.control} for details).
-     *
-     * Reference:
-     * - http://evil-mad.github.io/EggBot/ebb.html
-     *
-     * @example
-     * ```ts
-     * // execute start sequence, draw a triangle, then exec stop sequence
-     * axi.draw([
-     *   ["start"],
-     *   ...axi.polyline([[50,50], [100,50], [75, 100], [50,50]]),
-     *   ["stop"]
-     * ]);
-     * ```
-     *
-     * @param commands
-     * @param wrap
-     * @param showMetrics
-     */
-    async draw(commands, wrap = true, showMetrics = true) {
-        assert(this.isConnected, "AxiDraw not yet connected, need to call .connect() first");
-        let t0 = Date.now();
-        let numCommands = 0;
-        let penCommands = 0;
-        let totalDist = 0;
-        let drawDist = 0;
-        const $recordDist = (dist) => {
-            totalDist += dist;
-            if (this.isPenDown)
-                drawDist += dist;
-        };
-        const { control, logger, preDelay, refresh } = this.opts;
-        for (let $cmd of wrap ? complete(commands) : commands) {
-            numCommands++;
-            if (control) {
-                let state = control.deref();
-                if (state === AxiDrawState.PAUSE) {
-                    const penDown = this.isPenDown;
-                    if (penDown)
-                        this.penUp();
-                    do {
-                        await delayed(0, refresh);
-                    } while ((state = control.deref()) === AxiDrawState.PAUSE);
-                    if (state === AxiDrawState.CONTINUE && penDown) {
-                        this.penDown();
-                    }
-                }
-                if (state === AxiDrawState.CANCEL) {
-                    this.penUp();
-                    break;
-                }
-            }
-            const [cmd, a, b] = $cmd;
-            let wait = -1;
-            let dist;
-            switch (cmd) {
-                case "start":
-                case "stop": {
-                    const metrics = await this.draw(this.opts[cmd], false, false);
-                    numCommands += metrics.commands;
-                    penCommands += metrics.penCommands;
-                    totalDist += metrics.totalDist;
-                    drawDist += metrics.drawDist;
-                    break;
-                }
-                case "home":
-                    [wait, dist] = this.home();
-                    $recordDist(dist);
-                    break;
-                case "reset":
-                    this.reset();
-                    break;
-                case "on":
-                    this.motorsOn();
-                    break;
-                case "off":
-                    this.motorsOff();
-                    break;
-                case "pen":
-                    this.penConfig(a, b);
-                    break;
-                case "u":
-                    wait = this.penUp(a, b);
-                    penCommands++;
-                    break;
-                case "d":
-                    wait = this.penDown(a, b);
-                    penCommands++;
-                    break;
-                case "save":
-                    this.save();
-                    break;
-                case "restore":
-                    this.restore();
-                    break;
-                case "w":
-                    wait = a;
-                    break;
-                case "M":
-                    [wait, dist] = this.moveTo(a, b);
-                    $recordDist(dist);
-                    break;
-                case "m":
-                    [wait, dist] = this.moveRelative(a, b);
-                    $recordDist(dist);
-                    break;
-                case "comment":
-                    logger.info(`comment: ${a}`);
-                    break;
-                default:
-                    unsupported(`unknown command: ${$cmd}`);
-            }
-            if (wait > 0) {
-                wait = Math.max(0, wait - preDelay);
-                logger.debug(`waiting ${wait}ms...`);
-                await delayed(0, wait);
-            }
-            // restore one-off pen config to current state
-            if (cmd === "d" && b !== undefined) {
-                this.sendPenConfig(5, this.penLimits[0]);
-            }
-            else if (cmd === "u" && b !== undefined) {
-                this.sendPenConfig(4, this.penLimits[1]);
-            }
+    ioerror(`no matching device for ${path}`);
+  }
+  disconnect() {
+    this.serial.close();
+  }
+  /**
+   * Async function. Converts sequence of {@link DrawCommand}s into actual EBB
+   * commands and sends them via configured serial port to the AxiDraw. If
+   * `wrap` is enabled (default), the given commands will be automatically
+   * wrapped with start/stop commands via {@link complete}. Returns object of
+   * collected {@link Metrics}. If `showMetrics` is enabled (default), the
+   * metrics will also be written to the configured logger.
+   *
+   * @remarks
+   * This function is async and if using `await` will only return once all
+   * commands have been processed or cancelled.
+   *
+   * The `control` implementation/ provided as part of {@link AxiDrawOpts} can
+   * be used to pause, resume or cancel the drawing (see
+   * {@link AxiDrawOpts.control} for details).
+   *
+   * Reference:
+   * - http://evil-mad.github.io/EggBot/ebb.html
+   *
+   * @example
+   * ```ts
+   * // execute start sequence, draw a triangle, then exec stop sequence
+   * axi.draw([
+   *   ["start"],
+   *   ...axi.polyline([[50,50], [100,50], [75, 100], [50,50]]),
+   *   ["stop"]
+   * ]);
+   * ```
+   *
+   * @param commands
+   * @param wrap
+   * @param showMetrics
+   */
+  async draw(commands, wrap = true, showMetrics = true) {
+    assert(
+      this.isConnected,
+      "AxiDraw not yet connected, need to call .connect() first"
+    );
+    let t0 = Date.now();
+    let numCommands = 0;
+    let penCommands = 0;
+    let totalDist = 0;
+    let drawDist = 0;
+    const $recordDist = (dist) => {
+      totalDist += dist;
+      if (this.isPenDown)
+        drawDist += dist;
+    };
+    const { control, logger, preDelay, refresh } = this.opts;
+    for (let $cmd of wrap ? complete(commands) : commands) {
+      numCommands++;
+      if (control) {
+        let state = control.deref();
+        if (state === AxiDrawState.PAUSE) {
+          const penDown = this.isPenDown;
+          if (penDown)
+            this.penUp();
+          do {
+            await delayed(0, refresh);
+          } while ((state = control.deref()) === AxiDrawState.PAUSE);
+          if (state === AxiDrawState.CONTINUE && penDown) {
+            this.penDown();
+          }
         }
-        const duration = Date.now() - t0;
-        if (showMetrics) {
-            logger.info(`total duration : ${formatDuration(duration)}`);
-            logger.info(`total commands : ${numCommands}`);
-            logger.info(`pen up/downs   : ${penCommands}`);
-            logger.info(`total distance : ${totalDist.toFixed(2)}`);
-            logger.info(`draw distance  : ${drawDist.toFixed(2)}`);
+        if (state === AxiDrawState.CANCEL) {
+          this.penUp();
+          break;
         }
-        return {
-            duration,
-            drawDist,
-            totalDist,
-            penCommands,
-            commands: numCommands,
-        };
-    }
-    /**
-     * Syntax sugar for drawing a **single** command only, otherwise same as
-     * {@link AxiDraw.draw}.
-     *
-     * @param cmd
-     */
-    draw1(cmd) {
-        return this.draw([cmd], false);
-    }
-    motorsOn() {
-        this.send("EM,1,1\r");
-    }
-    motorsOff() {
-        this.send("EM,0,0\r");
-    }
-    save() {
-        this.opts.logger.debug("saving pen state:", this.penLimits);
-        this.penState.push(this.penLimits.slice());
-    }
-    restore() {
-        if (this.penState.length < 2) {
-            this.opts.logger.warn("stack underflow, can't restore pen state");
-            return;
+      }
+      const [cmd, a, b] = $cmd;
+      let wait = -1;
+      let dist;
+      switch (cmd) {
+        case "start":
+        case "stop": {
+          const metrics = await this.draw(
+            this.opts[cmd],
+            false,
+            false
+          );
+          numCommands += metrics.commands;
+          penCommands += metrics.penCommands;
+          totalDist += metrics.totalDist;
+          drawDist += metrics.drawDist;
+          break;
         }
-        const [down, up] = (this.penLimits = this.penState.pop());
-        this.sendPenConfig(5, down);
-        this.sendPenConfig(4, up);
-        this.opts.logger.debug("restored pen state:", this.penLimits);
-    }
-    penConfig(down, up) {
-        down = down !== undefined ? down : this.opts.down;
-        this.sendPenConfig(5, down);
-        this.penLimits[0] = down;
-        up = up !== undefined ? up : this.opts.up;
-        this.sendPenConfig(4, up);
-        this.penLimits[1] = up;
-        this.send(`SC,10,65535\r`);
+        case "home":
+          [wait, dist] = this.home();
+          $recordDist(dist);
+          break;
+        case "reset":
+          this.reset();
+          break;
+        case "on":
+          this.motorsOn();
+          break;
+        case "off":
+          this.motorsOff();
+          break;
+        case "pen":
+          this.penConfig(a, b);
+          break;
+        case "u":
+          wait = this.penUp(a, b);
+          penCommands++;
+          break;
+        case "d":
+          wait = this.penDown(a, b);
+          penCommands++;
+          break;
+        case "save":
+          this.save();
+          break;
+        case "restore":
+          this.restore();
+          break;
+        case "w":
+          wait = a;
+          break;
+        case "M":
+          [wait, dist] = this.moveTo(a, b);
+          $recordDist(dist);
+          break;
+        case "m":
+          [wait, dist] = this.moveRelative(a, b);
+          $recordDist(dist);
+          break;
+        case "comment":
+          logger.info(`comment: ${a}`);
+          break;
+        default:
+          unsupported(`unknown command: ${$cmd}`);
+      }
+      if (wait > 0) {
+        wait = Math.max(0, wait - preDelay);
+        logger.debug(`waiting ${wait}ms...`);
+        await delayed(0, wait);
+      }
+      if (cmd === "d" && b !== void 0) {
+        this.sendPenConfig(5, this.penLimits[0]);
+      } else if (cmd === "u" && b !== void 0) {
+        this.sendPenConfig(4, this.penLimits[1]);
+      }
     }
-    penUp(delay, level) {
-        if (level !== undefined)
-            this.sendPenConfig(4, level);
-        delay = delay !== undefined && delay >= 0 ? delay : this.opts.delayUp;
-        this.send(`SP,1,${delay}\r`);
-        this.isPenDown = false;
-        return delay;
+    const duration = Date.now() - t0;
+    if (showMetrics) {
+      logger.info(`total duration : ${formatDuration(duration)}`);
+      logger.info(`total commands : ${numCommands}`);
+      logger.info(`pen up/downs   : ${penCommands}`);
+      logger.info(`total distance : ${totalDist.toFixed(2)}`);
+      logger.info(`draw distance  : ${drawDist.toFixed(2)}`);
     }
-    penDown(delay, level) {
-        if (level !== undefined)
-            this.sendPenConfig(5, level);
-        delay = delay !== undefined && delay >= 0 ? delay : this.opts.delayDown;
-        this.send(`SP,0,${delay}\r`);
-        this.isPenDown = true;
-        return delay;
-    }
-    /**
-     * Sends a "moveto" command (absolute coords). Returns tuple of `[duration,
-     * distance]` (distance in original/configured units)
-     *
-     * @remarks
-     * Even though this method accepts absolute coords, all AxiDraw movements
-     * are relative. Depending on pen up/down state, movement speed will be
-     * either the configured {@link AxiDrawOpts.speedDown} or
-     * {@link AxiDrawOpts.speedUp}.
-     *
-     * @param p
-     * @param tempo
-     */
-    moveTo(p, tempo) {
-        const { homePos, scale, targetPos } = this;
-        // apply scale factor: worldspace units -> motor steps, add home offset
-        maddN2(targetPos, p, scale, homePos);
-        return this.sendMove(tempo);
-    }
-    /**
-     * Similar to {@link AxiDraw.moveTo}, but using **relative** coordinates.
-     *
-     * @param delta
-     * @param tempo
-     */
-    moveRelative(delta, tempo) {
-        const { pos, scale, targetPos } = this;
-        // apply scale factor: worldspace units -> motor steps
-        maddN2(targetPos, delta, scale, pos);
-        return this.sendMove(tempo);
-    }
-    /**
-     * Syntax sugar for {@link AxiDraw.moveTo}([0, 0]).
-     */
-    home() {
-        return this.moveTo(ZERO2);
-    }
-    setHome(pos) {
-        this.homePos = mulN2([], pos, this.scale);
-        this.opts.logger.debug("setting home position:", pos);
-    }
-    async onSignal() {
-        this.opts.logger.warn(`SIGNINT received, stop drawing...`);
-        this.penUp(0);
-        this.motorsOff();
-        await delayed(0, 100);
-        process.exit(1);
-    }
-    send(msg) {
-        this.opts.logger.debug(msg);
-        this.serial.write(msg);
-    }
-    sendMove(tempo = 1) {
-        const { bounds, pos, scale, targetPos, opts, isPenDown } = this;
-        if (bounds)
-            clamp2(null, targetPos, ...bounds);
-        const delta = sub2([], targetPos, pos);
-        set2(pos, targetPos);
-        const maxAxis = Math.max(...abs2([], delta));
-        const duration = (1000 * maxAxis) /
-            ((isPenDown ? opts.speedDown : opts.speedUp) * tempo);
-        this.send(`XM,${duration | 0},${delta[0] | 0},${delta[1] | 0}\r`);
-        return [duration, mag(delta) / scale];
-    }
-    /**
-     * Sends pen up/down config
-     *
-     * @remarks
-     * Reference:
-     * - https://github.com/evil-mad/AxiDraw-Processing/blob/80d81a8c897b8a1872b0555af52a8d1b5b13cec4/AxiGen1/AxiGen1.pde#L213
-     *
-     * @param id
-     * @param x
-     */
-    sendPenConfig(id, x) {
-        this.send(`SC,${id},${(7500 + 175 * x) | 0}\r`);
+    return {
+      duration,
+      drawDist,
+      totalDist,
+      penCommands,
+      commands: numCommands
+    };
+  }
+  /**
+   * Syntax sugar for drawing a **single** command only, otherwise same as
+   * {@link AxiDraw.draw}.
+   *
+   * @param cmd
+   */
+  draw1(cmd) {
+    return this.draw([cmd], false);
+  }
+  motorsOn() {
+    this.send("EM,1,1\r");
+  }
+  motorsOff() {
+    this.send("EM,0,0\r");
+  }
+  save() {
+    this.opts.logger.debug("saving pen state:", this.penLimits);
+    this.penState.push(this.penLimits.slice());
+  }
+  restore() {
+    if (this.penState.length < 2) {
+      this.opts.logger.warn("stack underflow, can't restore pen state");
+      return;
     }
+    const [down, up] = this.penLimits = this.penState.pop();
+    this.sendPenConfig(5, down);
+    this.sendPenConfig(4, up);
+    this.opts.logger.debug("restored pen state:", this.penLimits);
+  }
+  penConfig(down, up) {
+    down = down !== void 0 ? down : this.opts.down;
+    this.sendPenConfig(5, down);
+    this.penLimits[0] = down;
+    up = up !== void 0 ? up : this.opts.up;
+    this.sendPenConfig(4, up);
+    this.penLimits[1] = up;
+    this.send(`SC,10,65535\r`);
+  }
+  penUp(delay, level) {
+    if (level !== void 0)
+      this.sendPenConfig(4, level);
+    delay = delay !== void 0 && delay >= 0 ? delay : this.opts.delayUp;
+    this.send(`SP,1,${delay}\r`);
+    this.isPenDown = false;
+    return delay;
+  }
+  penDown(delay, level) {
+    if (level !== void 0)
+      this.sendPenConfig(5, level);
+    delay = delay !== void 0 && delay >= 0 ? delay : this.opts.delayDown;
+    this.send(`SP,0,${delay}\r`);
+    this.isPenDown = true;
+    return delay;
+  }
+  /**
+   * Sends a "moveto" command (absolute coords). Returns tuple of `[duration,
+   * distance]` (distance in original/configured units)
+   *
+   * @remarks
+   * Even though this method accepts absolute coords, all AxiDraw movements
+   * are relative. Depending on pen up/down state, movement speed will be
+   * either the configured {@link AxiDrawOpts.speedDown} or
+   * {@link AxiDrawOpts.speedUp}.
+   *
+   * @param p
+   * @param tempo
+   */
+  moveTo(p, tempo) {
+    const { homePos, scale, targetPos } = this;
+    maddN2(targetPos, p, scale, homePos);
+    return this.sendMove(tempo);
+  }
+  /**
+   * Similar to {@link AxiDraw.moveTo}, but using **relative** coordinates.
+   *
+   * @param delta
+   * @param tempo
+   */
+  moveRelative(delta, tempo) {
+    const { pos, scale, targetPos } = this;
+    maddN2(targetPos, delta, scale, pos);
+    return this.sendMove(tempo);
+  }
+  /**
+   * Syntax sugar for {@link AxiDraw.moveTo}([0, 0]).
+   */
+  home() {
+    return this.moveTo(ZERO2);
+  }
+  setHome(pos) {
+    this.homePos = mulN2([], pos, this.scale);
+    this.opts.logger.debug("setting home position:", pos);
+  }
+  async onSignal() {
+    this.opts.logger.warn(`SIGNINT received, stop drawing...`);
+    this.penUp(0);
+    this.motorsOff();
+    await delayed(0, 100);
+    process.exit(1);
+  }
+  send(msg) {
+    this.opts.logger.debug(msg);
+    this.serial.write(msg);
+  }
+  sendMove(tempo = 1) {
+    const { bounds, pos, scale, targetPos, opts, isPenDown } = this;
+    if (bounds)
+      clamp2(null, targetPos, ...bounds);
+    const delta = sub2([], targetPos, pos);
+    set2(pos, targetPos);
+    const maxAxis = Math.max(...abs2([], delta));
+    const duration = 1e3 * maxAxis / ((isPenDown ? opts.speedDown : opts.speedUp) * tempo);
+    this.send(`XM,${duration | 0},${delta[0] | 0},${delta[1] | 0}\r`);
+    return [duration, mag(delta) / scale];
+  }
+  /**
+   * Sends pen up/down config
+   *
+   * @remarks
+   * Reference:
+   * - https://github.com/evil-mad/AxiDraw-Processing/blob/80d81a8c897b8a1872b0555af52a8d1b5b13cec4/AxiGen1/AxiGen1.pde#L213
+   *
+   * @param id
+   * @param x
+   */
+  sendPenConfig(id, x) {
+    this.send(`SC,${id},${7500 + 175 * x | 0}\r`);
+  }
 }
+export {
+  AxiDraw,
+  DEFAULT_OPTS
+};