@zaber/motion 2.11.1 → 2.13.0

package/dist/lib/ascii/device.js

@@ -36,6 +36,7 @@ const stream_buffer_1 = require("./stream_buffer");
 const measurement_1 = require("../measurement");
 const can_set_state_device_response_1 = require("../can_set_state_device_response");
 const gateway = __importStar(require("../gateway"));
+const storage_1 = require("./storage");
 /**
  * Represents the controller part of one device - may be either a standalone controller or an integrated controller.
  */
@@ -44,6 +45,7 @@ class Device {
         this._connection = connection;
         this._deviceAddress = deviceAddress;
         this._settings = new device_settings_1.DeviceSettings(this);
+        this._storage = new storage_1.DeviceStorage(this);
         this._io = new device_io_1.DeviceIO(this);
         this._allAxes = new all_axes_1.AllAxes(this);
         this._warnings = new warnings_1.Warnings(this, 0);
@@ -68,6 +70,12 @@ class Device {
     get settings() {
         return this._settings;
     }
+    /**
+     * Key-value storage of this device.
+     */
+    get storage() {
+        return this._storage;
+    }
     /**
      * I/O channels of this device.
      */
@@ -201,6 +209,7 @@ class Device {
      * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
      * @param command Command and its parameters.
      * @param axis Optional axis number to send the command to.
+     * Specifying -1 omits the number completely.
      */
     async genericCommandNoResponse(command, axis = 0) {
         const request = new gateway.GenericCommandRequest();

package/dist/lib/ascii/device.js.map

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Connection } from './connection';\nimport { DeviceSettings } from './device_settings';\nimport { Axis } from './axis';\nimport { AllAxes } from './all_axes';\nimport { Warnings } from './warnings';\nimport { DeviceIdentity } from './device_identity';\nimport { DeviceIO } from './device_io';\nimport { Response } from './response';\nimport { Lockstep } from './lockstep';\nimport { Oscilloscope } from './oscilloscope';\nimport { Stream } from './stream';\nimport { StreamBuffer } from './stream_buffer';\nimport { Measurement } from '../measurement';\nimport { FirmwareVersion } from '../firmware_version';\nimport { CanSetStateDeviceResponse } from '../can_set_state_device_response';\nimport * as gateway from '../gateway';\n\n/**\n * Represents the controller part of one device - may be either a standalone controller or an integrated controller.\n */\nexport class Device {\n  /**\n   * Connection of this device.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  /**\n   * The device address uniquely identifies the device on the connection.\n   * It can be configured or automatically assigned by the renumber command.\n   */\n  public get deviceAddress(): number {\n    return this._deviceAddress;\n  }\n  private _deviceAddress: number;\n\n  /**\n   * Settings and properties of this device.\n   */\n  public get settings(): DeviceSettings {\n    return this._settings;\n  }\n  private _settings: DeviceSettings;\n\n  /**\n   * I/O channels of this device.\n   */\n  public get io(): DeviceIO {\n    return this._io;\n  }\n  private _io: DeviceIO;\n\n  /**\n   * Virtual axis which allows you to target all axes of this device.\n   */\n  public get allAxes(): AllAxes {\n    return this._allAxes;\n  }\n  private _allAxes: AllAxes;\n\n  /**\n   * Warnings and faults of this device and all its axes.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the device.\n   */\n  public get identity(): DeviceIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Indicates whether or not the device has been identified.\n   */\n  public get isIdentified(): boolean {\n    return this._retrieveIsIdentified();\n  }\n\n  /**\n   * Oscilloscope recording helper for this device.\n   */\n  public get oscilloscope(): Oscilloscope {\n    return this._oscilloscope;\n  }\n  private _oscilloscope: Oscilloscope;\n\n  /**\n   * Unique ID of the device hardware.\n   */\n  public get deviceId(): number {\n    return this.identity.deviceId;\n  }\n\n  /**\n   * Serial number of the device.\n   */\n  public get serialNumber(): number {\n    return this.identity.serialNumber;\n  }\n\n  /**\n   * Name of the product.\n   */\n  public get name(): string {\n    return this.identity.name;\n  }\n\n  /**\n   * Number of axes this device has.\n   */\n  public get axisCount(): number {\n    return this.identity.axisCount;\n  }\n\n  /**\n   * Version of the firmware.\n   */\n  public get firmwareVersion(): FirmwareVersion {\n    return this.identity.firmwareVersion;\n  }\n\n  /**\n   * The device is an integrated product.\n   */\n  public get isIntegrated(): boolean {\n    return this.identity.isIntegrated;\n  }\n\n  constructor(connection: Connection, deviceAddress: number) {\n    this._connection = connection;\n    this._deviceAddress = deviceAddress;\n    this._settings = new DeviceSettings(this);\n    this._io = new DeviceIO(this);\n    this._allAxes = new AllAxes(this);\n    this._warnings = new Warnings(this, 0);\n    this._oscilloscope = new Oscilloscope(this);\n  }\n\n  /**\n   * Queries the device and the database, gathering information about the product.\n   * Without this information features such as unit conversions will not work.\n   * Usually, called automatically by detect devices method.\n   * @return Device identification data.\n   */\n  public async identify(): Promise<DeviceIdentity> {\n    const request = new gateway.DeviceIdentifyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.DeviceIdentity>(\n      'device/identify',\n      request,\n      gateway.DeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this device.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param axis Optional axis number to send the command to.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    axis: number = 0,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n      'interface/generic_command',\n      request,\n      gateway.GenericCommandResponse);\n    return Response.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this device and expect multiple responses.\n   * Responses are returned in order of arrival.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param axis Optional axis number to send the command to.\n   * @param checkErrors Controls whether to throw an exception when a device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    axis: number = 0,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response[]> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n      'interface/generic_command_multi_response',\n      request,\n      gateway.GenericCommandResponseCollection);\n    return response.toObject().responsesList.map(resp => Response.fromProtobuf(resp));\n  }\n\n  /**\n   * Sends a generic ASCII command to this device without expecting a response and without adding a message ID\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param axis Optional axis number to send the command to.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    axis: number = 0\n  ): Promise<void> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Gets an Axis class instance which allows you to control a particular axis on this device.\n   * Axes are numbered from 1.\n   * @param axisNumber Number of axis intended to control.\n   * @return Axis instance.\n   */\n  public getAxis(\n    axisNumber: number\n  ): Axis {\n    if (axisNumber <= 0) {\n      throw new TypeError('Invalid value; physical axes are numbered from 1.');\n    }\n    return new Axis(this, axisNumber);\n  }\n\n  /**\n   * Gets a Lockstep class instance which allows you to control a particular lockstep group on the device.\n   * @param lockstepGroupId The ID of the lockstep group to control. Lockstep group IDs start at one.\n   * @return Lockstep instance.\n   */\n  public getLockstep(\n    lockstepGroupId: number\n  ): Lockstep {\n    if (lockstepGroupId <= 0) {\n      throw new TypeError('Invalid value; lockstep groups are numbered from 1.');\n    }\n    return new Lockstep(this, lockstepGroupId);\n  }\n\n  /**\n   * Formats parameters into a command and performs unit conversions.\n   * Parameters in the command template are denoted by a question mark.\n   * Command returned is only valid for this device.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n   * @param parameters Variable number of command parameters.\n   * @return Command with converted parameters.\n   */\n  public prepareCommand(\n    commandTemplate: string,\n    ...parameters: Measurement[]\n  ): string {\n    const request = new gateway.PrepareCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommandTemplate(commandTemplate);\n    request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n    const response = gateway.callSync<gateway.PrepareCommandResponse>(\n      'device/prepare_command',\n      request,\n      gateway.PrepareCommandResponse);\n    return response.getCommand();\n  }\n\n  /**\n   * Returns a string that represents the device.\n   * @return A string that represents the device.\n   */\n  public toString(): string {\n    const request = new gateway.ToStringRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.ToStringResponse>(\n      'device/device_to_string',\n      request,\n      gateway.ToStringResponse);\n    return response.getToStr();\n  }\n\n  /**\n   * Gets a Stream class instance which allows you to control a particular stream on the device.\n   * @param streamId The ID of the stream to control. Stream IDs start at one.\n   * @return Stream instance.\n   */\n  public getStream(\n    streamId: number\n  ): Stream {\n    if (streamId <= 0) {\n      throw new TypeError('Invalid value; streams are numbered from 1.');\n    }\n    return new Stream(this, streamId);\n  }\n\n  /**\n   * Gets a StreamBuffer class instance which is a handle for a stream buffer on the device.\n   * @param streamBufferId The ID of the stream buffer to control. Stream buffer IDs start at one.\n   * @return StreamBuffer instance.\n   */\n  public getStreamBuffer(\n    streamBufferId: number\n  ): StreamBuffer {\n    if (streamBufferId <= 0) {\n      throw new TypeError('Invalid value; stream buffers are numbered from 1.');\n    }\n    return new StreamBuffer(this, streamBufferId);\n  }\n\n  /**\n   * Returns a serialization of the current device state that can be saved and reapplied.\n   * @return A serialization of the current state of the device.\n   */\n  public async getState(): Promise<string> {\n    const request = new gateway.GetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.GetStateResponse>(\n      'device/get_state',\n      request,\n      gateway.GetStateResponse);\n    return response.getState();\n  }\n\n  /**\n   * Applies a saved state to an axis.\n   * @param state The state object to apply to this axis.\n   * @param deviceOnly If true, only device scope settings and features will be set.\n   */\n  public async setState(\n    state: string,\n    deviceOnly: boolean = false\n  ): Promise<void> {\n    const request = new gateway.SetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n    request.setDeviceOnly(deviceOnly);\n\n    await gateway.callAsync('device/set_state', request);\n  }\n\n  /**\n   * Checks if a state can be applied to a device and its peripherals.\n   * This only covers exceptions that can be determined statically such as mismatches of ID or version,\n   * the process of applying the state can still fail when running.\n   * @param state The state object to check against.\n   * @return An object listing errors that come up when trying to set the state.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<CanSetStateDeviceResponse> {\n    const request = new gateway.CanSetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n\n    const response = await gateway.callAsync<gateway.CanSetStateDeviceResponse>(\n      'device/can_set_state',\n      request,\n      gateway.CanSetStateDeviceResponse);\n    return CanSetStateDeviceResponse.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Returns identity.\n   * @return Device identity.\n   */\n  private _retrieveIdentity(): DeviceIdentity {\n    const request = new gateway.DeviceGetIdentityRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.DeviceGetIdentityResponse>(\n      'device/get_identity',\n      request,\n      gateway.DeviceGetIdentityResponse);\n    return DeviceIdentity.fromProtobuf(response.getIdentity()!.toObject());\n  }\n\n  /**\n   * Returns whether or not the device have been identified.\n   * @return True if the device has already been identified. False otherwise.\n   */\n  private _retrieveIsIdentified(): boolean {\n    const request = new gateway.DeviceGetIsIdentifiedRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.DeviceGetIsIdentifiedResponse>(\n      'device/get_is_identified',\n      request,\n      gateway.DeviceGetIsIdentifiedResponse);\n    return response.getIsIdentified();\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Connection } from './connection';\nimport { DeviceSettings } from './device_settings';\nimport { Axis } from './axis';\nimport { AllAxes } from './all_axes';\nimport { Warnings } from './warnings';\nimport { DeviceIdentity } from './device_identity';\nimport { DeviceIO } from './device_io';\nimport { Response } from './response';\nimport { Lockstep } from './lockstep';\nimport { Oscilloscope } from './oscilloscope';\nimport { Stream } from './stream';\nimport { StreamBuffer } from './stream_buffer';\nimport { Measurement } from '../measurement';\nimport { FirmwareVersion } from '../firmware_version';\nimport { CanSetStateDeviceResponse } from '../can_set_state_device_response';\nimport * as gateway from '../gateway';\nimport { DeviceStorage } from './storage';\n\n/**\n * Represents the controller part of one device - may be either a standalone controller or an integrated controller.\n */\nexport class Device {\n  /**\n   * Connection of this device.\n   */\n  public get connection(): Connection {\n    return this._connection;\n  }\n  private _connection: Connection;\n\n  /**\n   * The device address uniquely identifies the device on the connection.\n   * It can be configured or automatically assigned by the renumber command.\n   */\n  public get deviceAddress(): number {\n    return this._deviceAddress;\n  }\n  private _deviceAddress: number;\n\n  /**\n   * Settings and properties of this device.\n   */\n  public get settings(): DeviceSettings {\n    return this._settings;\n  }\n  private _settings: DeviceSettings;\n\n  /**\n   * Key-value storage of this device.\n   */\n  public get storage(): DeviceStorage {\n    return this._storage;\n  }\n  private _storage: DeviceStorage;\n\n  /**\n   * I/O channels of this device.\n   */\n  public get io(): DeviceIO {\n    return this._io;\n  }\n  private _io: DeviceIO;\n\n  /**\n   * Virtual axis which allows you to target all axes of this device.\n   */\n  public get allAxes(): AllAxes {\n    return this._allAxes;\n  }\n  private _allAxes: AllAxes;\n\n  /**\n   * Warnings and faults of this device and all its axes.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the device.\n   */\n  public get identity(): DeviceIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Indicates whether or not the device has been identified.\n   */\n  public get isIdentified(): boolean {\n    return this._retrieveIsIdentified();\n  }\n\n  /**\n   * Oscilloscope recording helper for this device.\n   */\n  public get oscilloscope(): Oscilloscope {\n    return this._oscilloscope;\n  }\n  private _oscilloscope: Oscilloscope;\n\n  /**\n   * Unique ID of the device hardware.\n   */\n  public get deviceId(): number {\n    return this.identity.deviceId;\n  }\n\n  /**\n   * Serial number of the device.\n   */\n  public get serialNumber(): number {\n    return this.identity.serialNumber;\n  }\n\n  /**\n   * Name of the product.\n   */\n  public get name(): string {\n    return this.identity.name;\n  }\n\n  /**\n   * Number of axes this device has.\n   */\n  public get axisCount(): number {\n    return this.identity.axisCount;\n  }\n\n  /**\n   * Version of the firmware.\n   */\n  public get firmwareVersion(): FirmwareVersion {\n    return this.identity.firmwareVersion;\n  }\n\n  /**\n   * The device is an integrated product.\n   */\n  public get isIntegrated(): boolean {\n    return this.identity.isIntegrated;\n  }\n\n  constructor(connection: Connection, deviceAddress: number) {\n    this._connection = connection;\n    this._deviceAddress = deviceAddress;\n    this._settings = new DeviceSettings(this);\n    this._storage = new DeviceStorage(this);\n    this._io = new DeviceIO(this);\n    this._allAxes = new AllAxes(this);\n    this._warnings = new Warnings(this, 0);\n    this._oscilloscope = new Oscilloscope(this);\n  }\n\n  /**\n   * Queries the device and the database, gathering information about the product.\n   * Without this information features such as unit conversions will not work.\n   * Usually, called automatically by detect devices method.\n   * @return Device identification data.\n   */\n  public async identify(): Promise<DeviceIdentity> {\n    const request = new gateway.DeviceIdentifyRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.DeviceIdentity>(\n      'device/identify',\n      request,\n      gateway.DeviceIdentity);\n    return DeviceIdentity.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this device.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param axis Optional axis number to send the command to.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    axis: number = 0,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n      'interface/generic_command',\n      request,\n      gateway.GenericCommandResponse);\n    return Response.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this device and expect multiple responses.\n   * Responses are returned in order of arrival.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param axis Optional axis number to send the command to.\n   * @param checkErrors Controls whether to throw an exception when a device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    axis: number = 0,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response[]> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n      'interface/generic_command_multi_response',\n      request,\n      gateway.GenericCommandResponseCollection);\n    return response.toObject().responsesList.map(resp => Response.fromProtobuf(resp));\n  }\n\n  /**\n   * Sends a generic ASCII command to this device without expecting a response and without adding a message ID\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param axis Optional axis number to send the command to.\n   * Specifying -1 omits the number completely.\n   */\n  public async genericCommandNoResponse(\n    command: string,\n    axis: number = 0\n  ): Promise<void> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommand(command);\n    request.setAxis(axis);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Gets an Axis class instance which allows you to control a particular axis on this device.\n   * Axes are numbered from 1.\n   * @param axisNumber Number of axis intended to control.\n   * @return Axis instance.\n   */\n  public getAxis(\n    axisNumber: number\n  ): Axis {\n    if (axisNumber <= 0) {\n      throw new TypeError('Invalid value; physical axes are numbered from 1.');\n    }\n    return new Axis(this, axisNumber);\n  }\n\n  /**\n   * Gets a Lockstep class instance which allows you to control a particular lockstep group on the device.\n   * @param lockstepGroupId The ID of the lockstep group to control. Lockstep group IDs start at one.\n   * @return Lockstep instance.\n   */\n  public getLockstep(\n    lockstepGroupId: number\n  ): Lockstep {\n    if (lockstepGroupId <= 0) {\n      throw new TypeError('Invalid value; lockstep groups are numbered from 1.');\n    }\n    return new Lockstep(this, lockstepGroupId);\n  }\n\n  /**\n   * Formats parameters into a command and performs unit conversions.\n   * Parameters in the command template are denoted by a question mark.\n   * Command returned is only valid for this device.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n   * @param parameters Variable number of command parameters.\n   * @return Command with converted parameters.\n   */\n  public prepareCommand(\n    commandTemplate: string,\n    ...parameters: Measurement[]\n  ): string {\n    const request = new gateway.PrepareCommandRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setCommandTemplate(commandTemplate);\n    request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n    const response = gateway.callSync<gateway.PrepareCommandResponse>(\n      'device/prepare_command',\n      request,\n      gateway.PrepareCommandResponse);\n    return response.getCommand();\n  }\n\n  /**\n   * Returns a string that represents the device.\n   * @return A string that represents the device.\n   */\n  public toString(): string {\n    const request = new gateway.ToStringRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.ToStringResponse>(\n      'device/device_to_string',\n      request,\n      gateway.ToStringResponse);\n    return response.getToStr();\n  }\n\n  /**\n   * Gets a Stream class instance which allows you to control a particular stream on the device.\n   * @param streamId The ID of the stream to control. Stream IDs start at one.\n   * @return Stream instance.\n   */\n  public getStream(\n    streamId: number\n  ): Stream {\n    if (streamId <= 0) {\n      throw new TypeError('Invalid value; streams are numbered from 1.');\n    }\n    return new Stream(this, streamId);\n  }\n\n  /**\n   * Gets a StreamBuffer class instance which is a handle for a stream buffer on the device.\n   * @param streamBufferId The ID of the stream buffer to control. Stream buffer IDs start at one.\n   * @return StreamBuffer instance.\n   */\n  public getStreamBuffer(\n    streamBufferId: number\n  ): StreamBuffer {\n    if (streamBufferId <= 0) {\n      throw new TypeError('Invalid value; stream buffers are numbered from 1.');\n    }\n    return new StreamBuffer(this, streamBufferId);\n  }\n\n  /**\n   * Returns a serialization of the current device state that can be saved and reapplied.\n   * @return A serialization of the current state of the device.\n   */\n  public async getState(): Promise<string> {\n    const request = new gateway.GetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.GetStateResponse>(\n      'device/get_state',\n      request,\n      gateway.GetStateResponse);\n    return response.getState();\n  }\n\n  /**\n   * Applies a saved state to an axis.\n   * @param state The state object to apply to this axis.\n   * @param deviceOnly If true, only device scope settings and features will be set.\n   */\n  public async setState(\n    state: string,\n    deviceOnly: boolean = false\n  ): Promise<void> {\n    const request = new gateway.SetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n    request.setDeviceOnly(deviceOnly);\n\n    await gateway.callAsync('device/set_state', request);\n  }\n\n  /**\n   * Checks if a state can be applied to a device and its peripherals.\n   * This only covers exceptions that can be determined statically such as mismatches of ID or version,\n   * the process of applying the state can still fail when running.\n   * @param state The state object to check against.\n   * @return An object listing errors that come up when trying to set the state.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<CanSetStateDeviceResponse> {\n    const request = new gateway.CanSetStateRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n    request.setState(state);\n\n    const response = await gateway.callAsync<gateway.CanSetStateDeviceResponse>(\n      'device/can_set_state',\n      request,\n      gateway.CanSetStateDeviceResponse);\n    return CanSetStateDeviceResponse.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Returns identity.\n   * @return Device identity.\n   */\n  private _retrieveIdentity(): DeviceIdentity {\n    const request = new gateway.DeviceGetIdentityRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.DeviceGetIdentityResponse>(\n      'device/get_identity',\n      request,\n      gateway.DeviceGetIdentityResponse);\n    return DeviceIdentity.fromProtobuf(response.getIdentity()!.toObject());\n  }\n\n  /**\n   * Returns whether or not the device have been identified.\n   * @return True if the device has already been identified. False otherwise.\n   */\n  private _retrieveIsIdentified(): boolean {\n    const request = new gateway.DeviceGetIsIdentifiedRequest();\n    request.setInterfaceId(this.connection.interfaceId);\n    request.setDevice(this.deviceAddress);\n\n    const response = gateway.callSync<gateway.DeviceGetIsIdentifiedResponse>(\n      'device/get_is_identified',\n      request,\n      gateway.DeviceGetIsIdentifiedResponse);\n    return response.getIsIdentified();\n  }\n}\n"]}

package/dist/lib/ascii/index.d.ts

@@ -33,3 +33,4 @@ export { ParamsetInfo } from './paramset_info';
 export { PidTuning } from './pid_tuning';
 export { ServoTuningParam } from './servo_tuning_param';
 export { SimpleTuningParam } from './simple_tuning_param';
+export { AxisStorage, DeviceStorage } from './storage';

package/dist/lib/ascii/index.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.SimpleTuningParam = exports.ServoTuningParam = exports.PidTuning = exports.ParamsetInfo = exports.ServoTuningParamset = exports.ServoTuner = exports.Transport = exports.StreamAxisDefinition = exports.StreamAxisType = exports.StreamMode = exports.StreamBuffer = exports.Stream = exports.OscilloscopeCaptureProperties = exports.OscilloscopeData = exports.Oscilloscope = exports.LockstepAxes = exports.Lockstep = exports.Warnings = exports.WarningFlags = exports.UnknownResponseEvent = exports.SettingConstants = exports.Response = exports.MessageType = exports.DeviceIOInfo = exports.DeviceIO = exports.Device = exports.DeviceSettings = exports.DeviceIdentity = exports.Connection = exports.Axis = exports.AxisType = exports.AxisSettings = exports.AxisIdentity = exports.AllAxes = exports.AlertEvent = void 0;
+exports.DeviceStorage = exports.AxisStorage = exports.SimpleTuningParam = exports.ServoTuningParam = exports.PidTuning = exports.ParamsetInfo = exports.ServoTuningParamset = exports.ServoTuner = exports.Transport = exports.StreamAxisDefinition = exports.StreamAxisType = exports.StreamMode = exports.StreamBuffer = exports.Stream = exports.OscilloscopeCaptureProperties = exports.OscilloscopeData = exports.Oscilloscope = exports.LockstepAxes = exports.Lockstep = exports.Warnings = exports.WarningFlags = exports.UnknownResponseEvent = exports.SettingConstants = exports.Response = exports.MessageType = exports.DeviceIOInfo = exports.DeviceIO = exports.Device = exports.DeviceSettings = exports.DeviceIdentity = exports.Connection = exports.Axis = exports.AxisType = exports.AxisSettings = exports.AxisIdentity = exports.AllAxes = exports.AlertEvent = void 0;
 var alert_event_1 = require("./alert_event");
 Object.defineProperty(exports, "AlertEvent", { enumerable: true, get: function () { return alert_event_1.AlertEvent; } });
 var all_axes_1 = require("./all_axes");
@@ -71,4 +71,7 @@ var servo_tuning_param_1 = require("./servo_tuning_param");
 Object.defineProperty(exports, "ServoTuningParam", { enumerable: true, get: function () { return servo_tuning_param_1.ServoTuningParam; } });
 var simple_tuning_param_1 = require("./simple_tuning_param");
 Object.defineProperty(exports, "SimpleTuningParam", { enumerable: true, get: function () { return simple_tuning_param_1.SimpleTuningParam; } });
+var storage_1 = require("./storage");
+Object.defineProperty(exports, "AxisStorage", { enumerable: true, get: function () { return storage_1.AxisStorage; } });
+Object.defineProperty(exports, "DeviceStorage", { enumerable: true, get: function () { return storage_1.DeviceStorage; } });
 //# sourceMappingURL=index.js.map

package/dist/lib/ascii/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../src/ascii/index.ts"],"names":[],"mappings":";;;AAAA,6CAA2C;AAAlC,yGAAA,UAAU,OAAA;AACnB,uCAAqC;AAA5B,mGAAA,OAAO,OAAA;AAChB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,yCAAuC;AAA9B,qGAAA,QAAQ,OAAA;AACjB,+BAA8B;AAArB,4FAAA,IAAI,OAAA;AACb,2CAA0C;AAAjC,wGAAA,UAAU,OAAA;AACnB,qDAAmD;AAA1C,iHAAA,cAAc,OAAA;AACvB,qDAAmD;AAA1C,iHAAA,cAAc,OAAA;AACvB,mCAAkC;AAAzB,gGAAA,MAAM,OAAA;AACf,yCAAuC;AAA9B,qGAAA,QAAQ,OAAA;AACjB,mDAAgD;AAAvC,8GAAA,YAAY,OAAA;AACrB,+CAA6C;AAApC,2GAAA,WAAW,OAAA;AACpB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,yDAAuD;AAA9C,qHAAA,gBAAgB,OAAA;AACzB,mEAAgE;AAAvD,8HAAA,oBAAoB,OAAA;AAC7B,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,uCAAsC;AAA7B,oGAAA,QAAQ,OAAA;AACjB,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,+CAA8C;AAArC,4GAAA,YAAY,OAAA;AACrB,yDAAuD;AAA9C,qHAAA,gBAAgB,OAAA;AACzB,qFAAkF;AAAzE,gJAAA,6BAA6B,OAAA;AACtC,mCAAkC;AAAzB,gGAAA,MAAM,OAAA;AACf,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,6CAA2C;AAAlC,yGAAA,UAAU,OAAA;AACnB,uDAAoD;AAA3C,kHAAA,cAAc,OAAA;AACvB,mEAAgE;AAAvD,8HAAA,oBAAoB,OAAA;AAC7B,yCAAwC;AAA/B,sGAAA,SAAS,OAAA;AAClB,6CAA2C;AAAlC,yGAAA,UAAU,OAAA;AACnB,iEAA8D;AAArD,4HAAA,mBAAmB,OAAA;AAC5B,iDAA+C;AAAtC,6GAAA,YAAY,OAAA;AACrB,2CAAyC;AAAhC,uGAAA,SAAS,OAAA;AAClB,2DAAwD;AAA/C,sHAAA,gBAAgB,OAAA;AACzB,6DAA0D;AAAjD,wHAAA,iBAAiB,OAAA;AAC1B,qCAAuD;AAA9C,sGAAA,WAAW,OAAA;AAAE,wGAAA,aAAa,OAAA","sourcesContent":["export { AlertEvent } from './alert_event';\nexport { AllAxes } from './all_axes';\nexport { AxisIdentity } from './axis_identity';\nexport { AxisSettings } from './axis_settings';\nexport { AxisType } from './axis_type';\nexport { Axis } from './axis';\nexport { Connection } from './connection';\nexport { DeviceIdentity } from './device_identity';\nexport { DeviceSettings } from './device_settings';\nexport { Device } from './device';\nexport { DeviceIO } from './device_io';\nexport { DeviceIOInfo } from './device_io_info';\nexport { MessageType } from './message_type';\nexport { Response } from './response';\nexport { SettingConstants } from './setting_constants';\nexport { UnknownResponseEvent } from './unknown_response_event';\nexport { WarningFlags } from './warning_flags';\nexport { Warnings } from './warnings';\nexport { Lockstep } from './lockstep';\nexport { LockstepAxes } from './lockstep_axes';\nexport { Oscilloscope } from './oscilloscope';\nexport { OscilloscopeData } from './oscilloscope_data';\nexport { OscilloscopeCaptureProperties } from './oscilloscope_capture_properties';\nexport { Stream } from './stream';\nexport { StreamBuffer } from './stream_buffer';\nexport { StreamMode } from './stream_mode';\nexport { StreamAxisType } from './stream_axis_type';\nexport { StreamAxisDefinition } from './stream_axis_definition';\nexport { Transport } from './transport';\nexport { ServoTuner } from './servo_tuner';\nexport { ServoTuningParamset } from './servo_tuning_paramset';\nexport { ParamsetInfo } from './paramset_info';\nexport { PidTuning } from './pid_tuning';\nexport { ServoTuningParam } from './servo_tuning_param';\nexport { SimpleTuningParam } from './simple_tuning_param';\nexport { AxisStorage, DeviceStorage } from './storage';\n"]}

package/dist/lib/ascii/lockstep.d.ts

@@ -1,5 +1,5 @@
 import { Device } from './device';
-import { Angle, Length, Native, AngularVelocity, Velocity } from '../units';
+import { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration } from '../units';
 import { LockstepAxes } from './lockstep_axes';
 /**
  * Represents a lockstep group with this ID on a device.
@@ -42,37 +42,64 @@ export declare class Lockstep {
      * @param position Absolute position.
      * @param unit Units of position.
      * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
+     * @param velocity Movement velocity.
+     * Default value of 0 indicates that the maxspeed setting is used instead.
+     * @param velocityUnit Units of velocity.
+     * @param acceleration Movement acceleration.
+     * Default value of 0 indicates that the accel setting is used instead.
+     * @param accelerationUnit Units of acceleration.
      */
-    moveAbsolute(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean): Promise<void>;
+    moveAbsolute(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
     /**
      * Move the first axis of the lockstep group to a position relative to its current position.
      * The other axes in the lockstep group maintain their offsets throughout movement.
      * @param position Relative position.
      * @param unit Units of position.
      * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
+     * @param velocity Movement velocity.
+     * Default value of 0 indicates that the maxspeed setting is used instead.
+     * @param velocityUnit Units of velocity.
+     * @param acceleration Movement acceleration.
+     * Default value of 0 indicates that the accel setting is used instead.
+     * @param accelerationUnit Units of acceleration.
      */
-    moveRelative(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean): Promise<void>;
+    moveRelative(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
     /**
      * Moves the first axis of the lockstep group at the specified speed.
      * The other axes in the lockstep group maintain their offsets throughout movement.
      * @param velocity Movement velocity.
      * @param unit Units of velocity.
+     * @param acceleration Movement acceleration.
+     * Default value of 0 indicates that the accel setting is used instead.
+     * @param accelerationUnit Units of acceleration.
      */
-    moveVelocity(velocity: number, unit?: Velocity | AngularVelocity | Native): Promise<void>;
+    moveVelocity(velocity: number, unit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
     /**
      * Moves the axes to the maximum valid position.
      * The axes in the lockstep group maintain their offsets throughout movement.
      * Respects lim.max for all axes in the group.
      * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
+     * @param velocity Movement velocity.
+     * Default value of 0 indicates that the maxspeed setting is used instead.
+     * @param velocityUnit Units of velocity.
+     * @param acceleration Movement acceleration.
+     * Default value of 0 indicates that the accel setting is used instead.
+     * @param accelerationUnit Units of acceleration.
      */
-    moveMax(waitUntilIdle?: boolean): Promise<void>;
+    moveMax(waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
     /**
      * Moves the axes to the minimum valid position.
      * The axes in the lockstep group maintain their offsets throughout movement.
      * Respects lim.min for all axes in the group.
      * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
+     * @param velocity Movement velocity.
+     * Default value of 0 indicates that the maxspeed setting is used instead.
+     * @param velocityUnit Units of velocity.
+     * @param acceleration Movement acceleration.
+     * Default value of 0 indicates that the accel setting is used instead.
+     * @param accelerationUnit Units of acceleration.
      */
-    moveMin(waitUntilIdle?: boolean): Promise<void>;
+    moveMin(waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
     /**
      * Waits until the lockstep group stops moving.
      * @param throwErrorOnFault Determines whether to throw error when fault is observed.

package/dist/lib/ascii/lockstep.js

@@ -98,8 +98,14 @@ class Lockstep {
      * @param position Absolute position.
      * @param unit Units of position.
      * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
+     * @param velocity Movement velocity.
+     * Default value of 0 indicates that the maxspeed setting is used instead.
+     * @param velocityUnit Units of velocity.
+     * @param acceleration Movement acceleration.
+     * Default value of 0 indicates that the accel setting is used instead.
+     * @param accelerationUnit Units of acceleration.
      */
-    async moveAbsolute(position, unit = units_1.Units.NATIVE, waitUntilIdle = true) {
+    async moveAbsolute(position, unit = units_1.Units.NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
         const request = new gateway.LockstepMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -108,6 +114,10 @@ class Lockstep {
         request.setArg(position);
         request.setUnit(unit);
         request.setWaitUntilIdle(waitUntilIdle);
+        request.setVelocity(velocity);
+        request.setVelocityUnit(velocityUnit);
+        request.setAcceleration(acceleration);
+        request.setAccelerationUnit(accelerationUnit);
         await gateway.callAsync('device/lockstep_move', request);
     }
     /**
@@ -116,8 +126,14 @@ class Lockstep {
      * @param position Relative position.
      * @param unit Units of position.
      * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
+     * @param velocity Movement velocity.
+     * Default value of 0 indicates that the maxspeed setting is used instead.
+     * @param velocityUnit Units of velocity.
+     * @param acceleration Movement acceleration.
+     * Default value of 0 indicates that the accel setting is used instead.
+     * @param accelerationUnit Units of acceleration.
      */
-    async moveRelative(position, unit = units_1.Units.NATIVE, waitUntilIdle = true) {
+    async moveRelative(position, unit = units_1.Units.NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
         const request = new gateway.LockstepMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -126,6 +142,10 @@ class Lockstep {
         request.setArg(position);
         request.setUnit(unit);
         request.setWaitUntilIdle(waitUntilIdle);
+        request.setVelocity(velocity);
+        request.setVelocityUnit(velocityUnit);
+        request.setAcceleration(acceleration);
+        request.setAccelerationUnit(accelerationUnit);
         await gateway.callAsync('device/lockstep_move', request);
     }
     /**
@@ -133,8 +153,11 @@ class Lockstep {
      * The other axes in the lockstep group maintain their offsets throughout movement.
      * @param velocity Movement velocity.
      * @param unit Units of velocity.
+     * @param acceleration Movement acceleration.
+     * Default value of 0 indicates that the accel setting is used instead.
+     * @param accelerationUnit Units of acceleration.
      */
-    async moveVelocity(velocity, unit = units_1.Units.NATIVE) {
+    async moveVelocity(velocity, unit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
         const request = new gateway.LockstepMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -142,6 +165,8 @@ class Lockstep {
         request.setType(gateway.LockstepMoveRequest.MoveType.VEL);
         request.setArg(velocity);
         request.setUnit(unit);
+        request.setAcceleration(acceleration);
+        request.setAccelerationUnit(accelerationUnit);
         await gateway.callAsync('device/lockstep_move', request);
     }
     /**
@@ -149,14 +174,24 @@ class Lockstep {
      * The axes in the lockstep group maintain their offsets throughout movement.
      * Respects lim.max for all axes in the group.
      * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
+     * @param velocity Movement velocity.
+     * Default value of 0 indicates that the maxspeed setting is used instead.
+     * @param velocityUnit Units of velocity.
+     * @param acceleration Movement acceleration.
+     * Default value of 0 indicates that the accel setting is used instead.
+     * @param accelerationUnit Units of acceleration.
      */
-    async moveMax(waitUntilIdle = true) {
+    async moveMax(waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
         const request = new gateway.LockstepMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setLockstepGroupId(this.lockstepGroupId);
         request.setType(gateway.LockstepMoveRequest.MoveType.MAX);
         request.setWaitUntilIdle(waitUntilIdle);
+        request.setVelocity(velocity);
+        request.setVelocityUnit(velocityUnit);
+        request.setAcceleration(acceleration);
+        request.setAccelerationUnit(accelerationUnit);
         await gateway.callAsync('device/lockstep_move', request);
     }
     /**
@@ -164,14 +199,24 @@ class Lockstep {
      * The axes in the lockstep group maintain their offsets throughout movement.
      * Respects lim.min for all axes in the group.
      * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
+     * @param velocity Movement velocity.
+     * Default value of 0 indicates that the maxspeed setting is used instead.
+     * @param velocityUnit Units of velocity.
+     * @param acceleration Movement acceleration.
+     * Default value of 0 indicates that the accel setting is used instead.
+     * @param accelerationUnit Units of acceleration.
      */
-    async moveMin(waitUntilIdle = true) {
+    async moveMin(waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
         const request = new gateway.LockstepMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setLockstepGroupId(this.lockstepGroupId);
         request.setType(gateway.LockstepMoveRequest.MoveType.MIN);
         request.setWaitUntilIdle(waitUntilIdle);
+        request.setVelocity(velocity);
+        request.setVelocityUnit(velocityUnit);
+        request.setAcceleration(acceleration);
+        request.setAccelerationUnit(accelerationUnit);
         await gateway.callAsync('device/lockstep_move', request);
     }
     /**

package/dist/lib/ascii/lockstep.js.map

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Units } from '../units';\nimport * as gateway from '../gateway';\nimport { LockstepAxes } from './lockstep_axes';\n\n/**\n * Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n */\nexport class Lockstep {\n  /**\n   * Device that controls this lockstep group.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the lockstep group on the device.\n   */\n  public get lockstepGroupId(): number {\n    return this._lockstepGroupId;\n  }\n  private _lockstepGroupId: number;\n\n  constructor(device: Device, lockstepGroupId: number) {\n    this._device = device;\n    this._lockstepGroupId = lockstepGroupId;\n  }\n\n  /**\n   * Activate the lockstep group on the axes specified.\n   * @param axes The numbers of axes in the lockstep group.\n   */\n  public async enable(\n    ...axes: number[]\n  ): Promise<void> {\n    const request = new gateway.LockstepEnableRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setAxesList(axes);\n\n    await gateway.callAsync('device/lockstep_enable', request);\n  }\n\n  /**\n   * Disable the lockstep group.\n   */\n  public async disable(): Promise<void> {\n    const request = new gateway.LockstepDisableRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    await gateway.callAsync('device/lockstep_disable', request);\n  }\n\n  /**\n   * Stops ongoing lockstep group movement. Decelerates until zero speed.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.LockstepStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_stop', request);\n  }\n\n  /**\n   * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.LockstepHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_home', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to an absolute position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Absolute position.\n   * @param unit Units of position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.ABS);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to a position relative to its current position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Relative position.\n   * @param unit Units of position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.REL);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group at the specified speed.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param velocity Movement velocity.\n   * @param unit Units of velocity.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the maximum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.max for all axes in the group.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveMax(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.MAX);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the minimum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.min for all axes in the group.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveMin(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.MIN);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Waits until the lockstep group stops moving.\n   * @param throwErrorOnFault Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    throwErrorOnFault: boolean = true\n  ): Promise<void> {\n    const request = new gateway.LockstepWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/lockstep_wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the lockstep group is executing a motion command.\n   * @return True if the axes are currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.LockstepIsBusyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepIsBusyResponse>(\n      'device/lockstep_is_busy',\n      request,\n      gateway.LockstepIsBusyResponse);\n    return response.getIsBusy();\n  }\n\n  /**\n   * @deprecated Use GetAxisNumbers instead.\n   *\n   * Gets the axes of the lockstep group.\n   * @return LockstepAxes instance which contains the axes numbers of the lockstep group.\n   */\n  public async getAxes(): Promise<LockstepAxes> {\n    const request = new gateway.LockstepGetAxesRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepGetAxesResponse>(\n      'device/lockstep_get_axes',\n      request,\n      gateway.LockstepGetAxesResponse);\n    return LockstepAxes.fromProtobuf(response.getAxes()!.toObject());\n  }\n\n  /**\n   * Gets the axis numbers of the lockstep group.\n   * @return Axis numbers in order specified when enabling lockstep.\n   */\n  public async getAxisNumbers(): Promise<number[]> {\n    const request = new gateway.LockstepGetAxisNumbersRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepGetAxisNumbersResponse>(\n      'device/lockstep_get_axis_numbers',\n      request,\n      gateway.LockstepGetAxisNumbersResponse);\n    return response.getAxesList();\n  }\n\n  /**\n   * Gets the initial offsets of secondary axes of an enabled lockstep group.\n   * @param unit Units of position.\n   * @return Initial offset for each axis of the lockstep group.\n   */\n  public async getOffsets(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request = new gateway.LockstepGetOffsetsRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.LockstepGetOffsetsResponse>(\n      'device/lockstep_get_offsets',\n      request,\n      gateway.LockstepGetOffsetsResponse);\n    return response.getOffsetsList();\n  }\n\n  /**\n   * Gets the twists of secondary axes of an enabled lockstep group.\n   * @param unit Units of position.\n   * @return Difference between the initial offset and the actual offset for each axis of the lockstep group.\n   */\n  public async getTwists(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request = new gateway.LockstepGetTwistsRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.LockstepGetTwistsResponse>(\n      'device/lockstep_get_twists',\n      request,\n      gateway.LockstepGetTwistsResponse);\n    return response.getTwistsList();\n  }\n\n  /**\n   * Checks if the lockstep group is currently enabled on the device.\n   * @return True if a lockstep group with this ID is enabled on the device.\n   */\n  public async isEnabled(): Promise<boolean> {\n    const request = new gateway.LockstepIsEnabledRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepIsEnabledResponse>(\n      'device/lockstep_is_enabled',\n      request,\n      gateway.LockstepIsEnabledResponse);\n    return response.getIsEnabled();\n  }\n\n  /**\n   * Returns a string which represents the enabled lockstep group.\n   * @return String which represents the enabled lockstep group.\n   */\n  public toString(): string {\n    const request = new gateway.LockstepToStringRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = gateway.callSync<gateway.LockstepToStringResponse>(\n      'device/lockstep_to_string',\n      request,\n      gateway.LockstepToStringResponse);\n    return response.getToStr();\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport * as gateway from '../gateway';\nimport { LockstepAxes } from './lockstep_axes';\n\n/**\n * Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n */\nexport class Lockstep {\n  /**\n   * Device that controls this lockstep group.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the lockstep group on the device.\n   */\n  public get lockstepGroupId(): number {\n    return this._lockstepGroupId;\n  }\n  private _lockstepGroupId: number;\n\n  constructor(device: Device, lockstepGroupId: number) {\n    this._device = device;\n    this._lockstepGroupId = lockstepGroupId;\n  }\n\n  /**\n   * Activate the lockstep group on the axes specified.\n   * @param axes The numbers of axes in the lockstep group.\n   */\n  public async enable(\n    ...axes: number[]\n  ): Promise<void> {\n    const request = new gateway.LockstepEnableRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setAxesList(axes);\n\n    await gateway.callAsync('device/lockstep_enable', request);\n  }\n\n  /**\n   * Disable the lockstep group.\n   */\n  public async disable(): Promise<void> {\n    const request = new gateway.LockstepDisableRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    await gateway.callAsync('device/lockstep_disable', request);\n  }\n\n  /**\n   * Stops ongoing lockstep group movement. Decelerates until zero speed.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.LockstepStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_stop', request);\n  }\n\n  /**\n   * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.LockstepHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/lockstep_home', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to an absolute position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Absolute position.\n   * @param unit Units of position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   * @param velocity Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * @param velocityUnit Units of velocity.\n   * @param acceleration Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * @param accelerationUnit Units of acceleration.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    waitUntilIdle: boolean = true,\n    velocity: number = 0,\n    velocityUnit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    acceleration: number = 0,\n    accelerationUnit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.ABS);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to a position relative to its current position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Relative position.\n   * @param unit Units of position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   * @param velocity Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * @param velocityUnit Units of velocity.\n   * @param acceleration Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * @param accelerationUnit Units of acceleration.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    waitUntilIdle: boolean = true,\n    velocity: number = 0,\n    velocityUnit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    acceleration: number = 0,\n    accelerationUnit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.REL);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group at the specified speed.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param velocity Movement velocity.\n   * @param unit Units of velocity.\n   * @param acceleration Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * @param accelerationUnit Units of acceleration.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    acceleration: number = 0,\n    accelerationUnit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the maximum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.max for all axes in the group.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   * @param velocity Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * @param velocityUnit Units of velocity.\n   * @param acceleration Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * @param accelerationUnit Units of acceleration.\n   */\n  public async moveMax(\n    waitUntilIdle: boolean = true,\n    velocity: number = 0,\n    velocityUnit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    acceleration: number = 0,\n    accelerationUnit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.MAX);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the minimum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.min for all axes in the group.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   * @param velocity Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * @param velocityUnit Units of velocity.\n   * @param acceleration Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * @param accelerationUnit Units of acceleration.\n   */\n  public async moveMin(\n    waitUntilIdle: boolean = true,\n    velocity: number = 0,\n    velocityUnit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    acceleration: number = 0,\n    accelerationUnit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.LockstepMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setType(gateway.LockstepMoveRequest.MoveType.MIN);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Waits until the lockstep group stops moving.\n   * @param throwErrorOnFault Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    throwErrorOnFault: boolean = true\n  ): Promise<void> {\n    const request = new gateway.LockstepWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/lockstep_wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the lockstep group is executing a motion command.\n   * @return True if the axes are currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.LockstepIsBusyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepIsBusyResponse>(\n      'device/lockstep_is_busy',\n      request,\n      gateway.LockstepIsBusyResponse);\n    return response.getIsBusy();\n  }\n\n  /**\n   * @deprecated Use GetAxisNumbers instead.\n   *\n   * Gets the axes of the lockstep group.\n   * @return LockstepAxes instance which contains the axes numbers of the lockstep group.\n   */\n  public async getAxes(): Promise<LockstepAxes> {\n    const request = new gateway.LockstepGetAxesRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepGetAxesResponse>(\n      'device/lockstep_get_axes',\n      request,\n      gateway.LockstepGetAxesResponse);\n    return LockstepAxes.fromProtobuf(response.getAxes()!.toObject());\n  }\n\n  /**\n   * Gets the axis numbers of the lockstep group.\n   * @return Axis numbers in order specified when enabling lockstep.\n   */\n  public async getAxisNumbers(): Promise<number[]> {\n    const request = new gateway.LockstepGetAxisNumbersRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepGetAxisNumbersResponse>(\n      'device/lockstep_get_axis_numbers',\n      request,\n      gateway.LockstepGetAxisNumbersResponse);\n    return response.getAxesList();\n  }\n\n  /**\n   * Gets the initial offsets of secondary axes of an enabled lockstep group.\n   * @param unit Units of position.\n   * @return Initial offset for each axis of the lockstep group.\n   */\n  public async getOffsets(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request = new gateway.LockstepGetOffsetsRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.LockstepGetOffsetsResponse>(\n      'device/lockstep_get_offsets',\n      request,\n      gateway.LockstepGetOffsetsResponse);\n    return response.getOffsetsList();\n  }\n\n  /**\n   * Gets the twists of secondary axes of an enabled lockstep group.\n   * @param unit Units of position.\n   * @return Difference between the initial offset and the actual offset for each axis of the lockstep group.\n   */\n  public async getTwists(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request = new gateway.LockstepGetTwistsRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.LockstepGetTwistsResponse>(\n      'device/lockstep_get_twists',\n      request,\n      gateway.LockstepGetTwistsResponse);\n    return response.getTwistsList();\n  }\n\n  /**\n   * Checks if the lockstep group is currently enabled on the device.\n   * @return True if a lockstep group with this ID is enabled on the device.\n   */\n  public async isEnabled(): Promise<boolean> {\n    const request = new gateway.LockstepIsEnabledRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = await gateway.callAsync<gateway.LockstepIsEnabledResponse>(\n      'device/lockstep_is_enabled',\n      request,\n      gateway.LockstepIsEnabledResponse);\n    return response.getIsEnabled();\n  }\n\n  /**\n   * Returns a string which represents the enabled lockstep group.\n   * @return String which represents the enabled lockstep group.\n   */\n  public toString(): string {\n    const request = new gateway.LockstepToStringRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setLockstepGroupId(this.lockstepGroupId);\n\n    const response = gateway.callSync<gateway.LockstepToStringResponse>(\n      'device/lockstep_to_string',\n      request,\n      gateway.LockstepToStringResponse);\n    return response.getToStr();\n  }\n}\n"]}

package/dist/lib/ascii/servo_tuner.d.ts

@@ -74,4 +74,15 @@ export declare class ServoTuner {
      * @param carriageMass The mass of the carriage in kg. If this value is not set the default carriage mass is used.
      */
     setSimpleTuning(paramset: ServoTuningParamset, tuningParams: ServoTuningParam[], loadMass: number, carriageMass?: number): Promise<void>;
+    /**
+     * Checks if the provided simple tuning is being stored by this paramset.
+     * @param paramset The paramset to set tuning for.
+     * @param tuningParams The params used to tune this device.
+     * To get what parameters are expected, call GetSimpleTuningParamList.
+     * All values must be between 0 and 1.
+     * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
+     * @param carriageMass The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+     * @return True if the provided simple tuning is currently stored in this paramset.
+     */
+    isUsingSimpleTuning(paramset: ServoTuningParamset, tuningParams: ServoTuningParam[], loadMass: number, carriageMass?: number): Promise<boolean>;
 }

package/dist/lib/ascii/servo_tuner.js

@@ -175,6 +175,28 @@ class ServoTuner {
         request.setCarriageMass(carriageMass);
         await gateway.callAsync('servotuning/set_simple_tuning', request);
     }
+    /**
+     * Checks if the provided simple tuning is being stored by this paramset.
+     * @param paramset The paramset to set tuning for.
+     * @param tuningParams The params used to tune this device.
+     * To get what parameters are expected, call GetSimpleTuningParamList.
+     * All values must be between 0 and 1.
+     * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
+     * @param carriageMass The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+     * @return True if the provided simple tuning is currently stored in this paramset.
+     */
+    async isUsingSimpleTuning(paramset, tuningParams, loadMass, carriageMass = -1.0) {
+        const request = new gateway.SetSimpleTuning();
+        request.setInterfaceId(this.axis.device.connection.interfaceId);
+        request.setDevice(this.axis.device.deviceAddress);
+        request.setAxis(this.axis.axisNumber);
+        request.setParamset(paramset);
+        request.setTuningParamsList(tuningParams.map(servo_tuning_param_1.ServoTuningParam.toProtobuf));
+        request.setLoadMass(loadMass);
+        request.setCarriageMass(carriageMass);
+        const response = await gateway.callAsync('servotuning/is_using_simple_tuning', request, gateway.SimpleTuningIsInUse);
+        return response.getValue();
+    }
 }
 exports.ServoTuner = ServoTuner;
 //# sourceMappingURL=servo_tuner.js.map