@zaber/motion 2.11.2 → 2.13.1

package/dist/lib/ascii/all_axes.js

@@ -77,7 +77,7 @@ class AllAxes {
      * It can later be powered on, unparked, and moved without first having to home it.
      */
     async park() {
-        const request = new gateway.DeviceParkRequest();
+        const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(0);
@@ -87,7 +87,7 @@ class AllAxes {
      * Unparks the device. The device will now be able to move.
      */
     async unpark() {
-        const request = new gateway.DeviceParkRequest();
+        const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(0);
@@ -98,24 +98,24 @@ class AllAxes {
      * @return True if any axis is currently executing a motion command.
      */
     async isBusy() {
-        const request = new gateway.DeviceIsBusyRequest();
+        const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(0);
-        const response = await gateway.callAsync('device/is_busy', request, gateway.DeviceIsBusyResponse);
-        return response.getIsBusy();
+        const response = await gateway.callAsync('device/is_busy', request, gateway.BoolResponse);
+        return response.getValue();
     }
     /**
      * Returns a string that represents the axes.
      * @return A string that represents the axes.
      */
     toString() {
-        const request = new gateway.ToStringRequest();
+        const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(0);
-        const response = gateway.callSync('device/all_axes_to_string', request, gateway.ToStringResponse);
-        return response.getToStr();
+        const response = gateway.callSync('device/all_axes_to_string', request, gateway.StringResponse);
+        return response.getValue();
     }
 }
 exports.AllAxes = AllAxes;

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

@@ -1 +1 @@
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Axes return to their homing positions.\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.DeviceHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axes 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.DeviceStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Waits until all axes of device stop 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.DeviceWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Parks the device in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request = new gateway.DeviceParkRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks the device. The device will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request = new gateway.DeviceParkRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether any axis is executing a motion command.\n   * @return True if any axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.DeviceIsBusyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n\n    const response = await gateway.callAsync<gateway.DeviceIsBusyResponse>(\n      'device/is_busy',\n      request,\n      gateway.DeviceIsBusyResponse);\n    return response.getIsBusy();\n  }\n\n  /**\n   * Returns a string that represents the axes.\n   * @return A string that represents the axes.\n   */\n  public toString(): string {\n    const request = new gateway.ToStringRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n\n    const response = gateway.callSync<gateway.ToStringResponse>(\n      'device/all_axes_to_string',\n      request,\n      gateway.ToStringResponse);\n    return response.getToStr();\n  }\n}\n"]}
+{"version":3,"file":"all_axes.js","sourceRoot":"","sources":["../../../src/ascii/all_axes.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;AAGtD,oDAAsC;AAEtC;;GAEG;AACH,MAAa,OAAO;IASlB,YAAY,MAAc;QACxB,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;IACxB,CAAC;IAVD;;OAEG;IACH,IAAW,MAAM;QACf,OAAO,IAAI,CAAC,OAAO,CAAC;IACtB,CAAC;IAOD;;;OAGG;IACI,KAAK,CAAC,IAAI,CACf,gBAAyB,IAAI;QAE7B,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,iBAAiB,EAAE,CAAC;QAChD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACnB,OAAO,CAAC,gBAAgB,CAAC,aAAa,CAAC,CAAC;QAExC,MAAM,OAAO,CAAC,SAAS,CAAC,aAAa,EAAE,OAAO,CAAC,CAAC;IAClD,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,IAAI,CACf,gBAAyB,IAAI;QAE7B,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,iBAAiB,EAAE,CAAC;QAChD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACnB,OAAO,CAAC,gBAAgB,CAAC,aAAa,CAAC,CAAC;QAExC,MAAM,OAAO,CAAC,SAAS,CAAC,aAAa,EAAE,OAAO,CAAC,CAAC;IAClD,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,aAAa,CACxB,oBAA6B,IAAI;QAEjC,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,0BAA0B,EAAE,CAAC;QACzD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACnB,OAAO,CAAC,oBAAoB,CAAC,iBAAiB,CAAC,CAAC;QAEhD,MAAM,OAAO,CAAC,SAAS,CAAC,wBAAwB,EAAE,OAAO,CAAC,CAAC;IAC7D,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,IAAI;QACf,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,gBAAgB,EAAE,CAAC;QAC/C,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAEnB,MAAM,OAAO,CAAC,SAAS,CAAC,aAAa,EAAE,OAAO,CAAC,CAAC;IAClD,CAAC;IAED;;OAEG;IACI,KAAK,CAAC,MAAM;QACjB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,gBAAgB,EAAE,CAAC;QAC/C,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAEnB,MAAM,OAAO,CAAC,SAAS,CAAC,eAAe,EAAE,OAAO,CAAC,CAAC;IACpD,CAAC;IAED;;;OAGG;IACI,KAAK,CAAC,MAAM;QACjB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,gBAAgB,EAAE,CAAC;QAC/C,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAEnB,MAAM,QAAQ,GAAG,MAAM,OAAO,CAAC,SAAS,CACtC,gBAAgB,EAChB,OAAO,EACP,OAAO,CAAC,YAAY,CAAC,CAAC;QACxB,OAAO,QAAQ,CAAC,QAAQ,EAAE,CAAC;IAC7B,CAAC;IAED;;;OAGG;IACI,QAAQ;QACb,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,gBAAgB,EAAE,CAAC;QAC/C,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAC7C,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAEnB,MAAM,QAAQ,GAAG,OAAO,CAAC,QAAQ,CAC/B,2BAA2B,EAC3B,OAAO,EACP,OAAO,CAAC,cAAc,CAAC,CAAC;QAC1B,OAAO,QAAQ,CAAC,QAAQ,EAAE,CAAC;IAC7B,CAAC;CACF;AAvHD,0BAuHC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport * as gateway from '../gateway';\n\n/**\n * Represents all axes of motion associated with a device.\n */\nexport class AllAxes {\n  /**\n   * Device that controls this axis.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  constructor(device: Device) {\n    this._device = device;\n  }\n\n  /**\n   * Homes all axes. Axes return to their homing positions.\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.DeviceHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axes 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.DeviceStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Waits until all axes of device stop 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.DeviceWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Parks the device in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks the device. The device will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether any axis is executing a motion command.\n   * @return True if any axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/is_busy',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string that represents the axes.\n   * @return A string that represents the axes.\n   */\n  public toString(): string {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(0);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/all_axes_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n}\n"]}

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

@@ -3,9 +3,10 @@ import { AxisIdentity } from './axis_identity';
 import { AxisType } from './axis_type';
 import { Warnings } from './warnings';
 import { AxisSettings } from './axis_settings';
-import { Angle, Length, Native, AngularVelocity, Velocity } from '../units';
+import { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration } from '../units';
 import { Response } from './response';
 import { Measurement } from '../measurement';
+import { AxisStorage } from './storage';
 /**
  * Represents an axis of motion associated with a device.
  */
@@ -26,6 +27,11 @@ export declare class Axis {
      */
     get settings(): AxisSettings;
     private _settings;
+    /**
+     * Key-value storage of this axis.
+     */
+    get storage(): AxisStorage;
+    private _storage;
     /**
      * Warnings and faults of this axis.
      */
@@ -91,31 +97,58 @@ export declare class Axis {
      * @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>;
     /**
      * Moves the axis to the maximum position as specified by limit.max.
      * @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 axis to the minimum position as specified by limit.min.
      * @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>;
     /**
      * Move axis to position relative to current position.
      * @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>;
     /**
      * Begins to move axis at specified speed.
      * @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>;
     /**
      * Returns current axis position.
      * @param unit Units of position.

package/dist/lib/ascii/axis.js

@@ -29,6 +29,7 @@ const units_1 = require("../units");
 const response_1 = require("./response");
 const measurement_1 = require("../measurement");
 const gateway = __importStar(require("../gateway"));
+const storage_1 = require("./storage");
 /**
  * Represents an axis of motion associated with a device.
  */
@@ -37,6 +38,7 @@ class Axis {
         this._device = device;
         this._axisNumber = axisNumber;
         this._settings = new axis_settings_1.AxisSettings(this);
+        this._storage = new storage_1.AxisStorage(this);
         this._warnings = new warnings_1.Warnings(device, axisNumber);
     }
     /**
@@ -58,6 +60,12 @@ class Axis {
     get settings() {
         return this._settings;
     }
+    /**
+     * Key-value storage of this axis.
+     */
+    get storage() {
+        return this._storage;
+    }
     /**
      * Warnings and faults of this axis.
      */
@@ -123,7 +131,7 @@ class Axis {
      * It can later be powered on, unparked, and moved without first having to home it.
      */
     async park() {
-        const request = new gateway.DeviceParkRequest();
+        const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(this.axisNumber);
@@ -133,7 +141,7 @@ class Axis {
      * Unparks axis. Axis will now be able to move.
      */
     async unpark() {
-        const request = new gateway.DeviceParkRequest();
+        const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(this.axisNumber);
@@ -144,12 +152,12 @@ class Axis {
      * @return True if the axis is currently parked. False otherwise.
      */
     async isParked() {
-        const request = new gateway.DeviceParkRequest();
+        const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(this.axisNumber);
-        const response = await gateway.callAsync('device/is_parked', request, gateway.DeviceIsParkedResponse);
-        return response.getIsParked();
+        const response = await gateway.callAsync('device/is_parked', request, gateway.BoolResponse);
+        return response.getValue();
     }
     /**
      * Waits until axis stops moving.
@@ -168,20 +176,26 @@ class Axis {
      * @return True if the axis is currently executing a motion command.
      */
     async isBusy() {
-        const request = new gateway.DeviceIsBusyRequest();
+        const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(this.axisNumber);
-        const response = await gateway.callAsync('device/is_busy', request, gateway.DeviceIsBusyResponse);
-        return response.getIsBusy();
+        const response = await gateway.callAsync('device/is_busy', request, gateway.BoolResponse);
+        return response.getValue();
     }
     /**
      * Move axis to absolute position.
      * @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.DeviceMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -190,32 +204,56 @@ class Axis {
         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/move', request);
     }
     /**
      * Moves the axis to the maximum position as specified by limit.max.
      * @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.DeviceMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(this.axisNumber);
         request.setType(gateway.DeviceMoveRequest.MoveType.MAX);
         request.setWaitUntilIdle(waitUntilIdle);
+        request.setVelocity(velocity);
+        request.setVelocityUnit(velocityUnit);
+        request.setAcceleration(acceleration);
+        request.setAccelerationUnit(accelerationUnit);
         await gateway.callAsync('device/move', request);
     }
     /**
      * Moves the axis to the minimum position as specified by limit.min.
      * @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.DeviceMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(this.axisNumber);
         request.setType(gateway.DeviceMoveRequest.MoveType.MIN);
         request.setWaitUntilIdle(waitUntilIdle);
+        request.setVelocity(velocity);
+        request.setVelocityUnit(velocityUnit);
+        request.setAcceleration(acceleration);
+        request.setAccelerationUnit(accelerationUnit);
         await gateway.callAsync('device/move', request);
     }
     /**
@@ -223,8 +261,14 @@ class Axis {
      * @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.DeviceMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -233,14 +277,21 @@ class Axis {
         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/move', request);
     }
     /**
      * Begins to move axis at specified speed.
      * @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.DeviceMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -248,6 +299,8 @@ class Axis {
         request.setType(gateway.DeviceMoveRequest.MoveType.VEL);
         request.setArg(velocity);
         request.setUnit(unit);
+        request.setAcceleration(acceleration);
+        request.setAccelerationUnit(accelerationUnit);
         await gateway.callAsync('device/move', request);
     }
     /**
@@ -262,7 +315,7 @@ class Axis {
         request.setAxis(this.axisNumber);
         request.setSetting('pos');
         request.setUnit(unit);
-        const response = await gateway.callAsync('device/get_setting', request, gateway.DeviceGetSettingResponse);
+        const response = await gateway.callAsync('device/get_setting', request, gateway.DoubleResponse);
         return response.getValue();
     }
     /**
@@ -335,32 +388,32 @@ class Axis {
         request.setAxis(this.axisNumber);
         request.setCommandTemplate(commandTemplate);
         request.setParametersList(parameters.map(measurement_1.Measurement.toProtobuf));
-        const response = gateway.callSync('device/prepare_command', request, gateway.PrepareCommandResponse);
-        return response.getCommand();
+        const response = gateway.callSync('device/prepare_command', request, gateway.StringResponse);
+        return response.getValue();
     }
     /**
      * Returns a string that represents the axis.
      * @return A string that represents the axis.
      */
     toString() {
-        const request = new gateway.ToStringRequest();
+        const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(this.axisNumber);
-        const response = gateway.callSync('device/axis_to_string', request, gateway.ToStringResponse);
-        return response.getToStr();
+        const response = gateway.callSync('device/axis_to_string', request, gateway.StringResponse);
+        return response.getValue();
     }
     /**
      * Returns a serialization of the current axis state that can be saved and reapplied.
      * @return A serialization of the current state of the axis.
      */
     async getState() {
-        const request = new gateway.GetStateRequest();
+        const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(this.axisNumber);
-        const response = await gateway.callAsync('device/get_state', request, gateway.GetStateResponse);
-        return response.getState();
+        const response = await gateway.callAsync('device/get_state', request, gateway.StringResponse);
+        return response.getValue();
     }
     /**
      * Applies a saved state to an axis.
@@ -387,7 +440,7 @@ class Axis {
         request.setDevice(this.device.deviceAddress);
         request.setAxis(this.axisNumber);
         request.setState(state);
-        const response = await gateway.callAsync('device/can_set_state', request, gateway.CanSetStateAxisResponse);
+        const response = await gateway.callAsync('device/can_set_axis_state', request, gateway.CanSetStateAxisResponse);
         return response.getError();
     }
     /**
@@ -395,7 +448,7 @@ class Axis {
      * @return Axis identity.
      */
     _retrieveIdentity() {
-        const request = new gateway.DeviceGetAxisIdentityRequest();
+        const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setAxis(this.axisNumber);

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

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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Units } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\n\n/**\n * Represents an axis of motion associated with a device.\n */\nexport class Axis {\n  /**\n   * Device that controls this axis.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The axis number identifies the axis on the device.\n   * The first axis has the number one.\n   */\n  public get axisNumber(): number {\n    return this._axisNumber;\n  }\n  private _axisNumber: number;\n\n  /**\n   * Settings and properties of this axis.\n   */\n  public get settings(): AxisSettings {\n    return this._settings;\n  }\n  private _settings: AxisSettings;\n\n  /**\n   * Warnings and faults of this axis.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the axis.\n   */\n  public get identity(): AxisIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  public get peripheralId(): number {\n    return this.identity.peripheralId;\n  }\n\n  /**\n   * Name of the peripheral.\n   */\n  public get peripheralName(): string {\n    return this.identity.peripheralName;\n  }\n\n  /**\n   * Indicates whether the axis is a peripheral or part of an integrated device.\n   */\n  public get isPeripheral(): boolean {\n    return this.identity.isPeripheral;\n  }\n\n  /**\n   * Determines the type of an axis and units it accepts.\n   */\n  public get axisType(): AxisType {\n    return this.identity.axisType;\n  }\n\n  constructor(device: Device, axisNumber: number) {\n    this._device = device;\n    this._axisNumber = axisNumber;\n    this._settings = new AxisSettings(this);\n    this._warnings = new Warnings(device, axisNumber);\n  }\n\n  /**\n   * Homes axis. Axis returns to its homing position.\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.DeviceHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axis 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.DeviceStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Parks the axis in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request = new gateway.DeviceParkRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks axis. Axis will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request = new gateway.DeviceParkRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @return True if the axis is currently parked. False otherwise.\n   */\n  public async isParked(): Promise<boolean> {\n    const request = new gateway.DeviceParkRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.DeviceIsParkedResponse>(\n      'device/is_parked',\n      request,\n      gateway.DeviceIsParkedResponse);\n    return response.getIsParked();\n  }\n\n  /**\n   * Waits until axis 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.DeviceWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is executing a motion command.\n   * @return True if the axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.DeviceIsBusyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.DeviceIsBusyResponse>(\n      'device/is_busy',\n      request,\n      gateway.DeviceIsBusyResponse);\n    return response.getIsBusy();\n  }\n\n  /**\n   * Move axis to absolute position.\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.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.ABS);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the maximum position as specified by limit.max.\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.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.MAX);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the minimum position as specified by limit.min.\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.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.MIN);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Move axis to position relative to current position.\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.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.REL);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Begins to move axis at specified speed.\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.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Returns current axis position.\n   * @param unit Units of position.\n   * @return Axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setSetting('pos');\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DeviceGetSettingResponse>(\n      'device/get_setting',\n      request,\n      gateway.DeviceGetSettingResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis.\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 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    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\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 axis 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 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    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response[]> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\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 axis 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   */\n  public async genericCommandNoResponse(\n    command: string\n  ): Promise<void> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\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 axis and 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.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\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 axis.\n   * @return A string that represents the axis.\n   */\n  public toString(): string {\n    const request = new gateway.ToStringRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.ToStringResponse>(\n      'device/axis_to_string',\n      request,\n      gateway.ToStringResponse);\n    return response.getToStr();\n  }\n\n  /**\n   * Returns a serialization of the current axis state that can be saved and reapplied.\n   * @return A serialization of the current state of the axis.\n   */\n  public async getState(): Promise<string> {\n    const request = new gateway.GetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\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   */\n  public async setState(\n    state: string\n  ): Promise<void> {\n    const request = new gateway.SetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setState(state);\n\n    await gateway.callAsync('device/set_state', request);\n  }\n\n  /**\n   * Checks if a state can be applied to this axis.\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 explanation of why this state cannot be set to this axis.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<string> {\n    const request = new gateway.CanSetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setState(state);\n\n    const response = await gateway.callAsync<gateway.CanSetStateAxisResponse>(\n      'device/can_set_state',\n      request,\n      gateway.CanSetStateAxisResponse);\n    return response.getError();\n  }\n\n  /**\n   * Returns identity.\n   * @return Axis identity.\n   */\n  private _retrieveIdentity(): AxisIdentity {\n    const request = new gateway.DeviceGetAxisIdentityRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.DeviceGetAxisIdentityResponse>(\n      'device/get_axis_identity',\n      request,\n      gateway.DeviceGetAxisIdentityResponse);\n    return AxisIdentity.fromProtobuf(response.getIdentity()!.toObject());\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 { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\nimport { AxisStorage } from './storage';\n\n/**\n * Represents an axis of motion associated with a device.\n */\nexport class Axis {\n  /**\n   * Device that controls this axis.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The axis number identifies the axis on the device.\n   * The first axis has the number one.\n   */\n  public get axisNumber(): number {\n    return this._axisNumber;\n  }\n  private _axisNumber: number;\n\n  /**\n   * Settings and properties of this axis.\n   */\n  public get settings(): AxisSettings {\n    return this._settings;\n  }\n  private _settings: AxisSettings;\n\n  /**\n   * Key-value storage of this axis.\n   */\n  public get storage(): AxisStorage {\n    return this._storage;\n  }\n  private _storage: AxisStorage;\n\n  /**\n   * Warnings and faults of this axis.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the axis.\n   */\n  public get identity(): AxisIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  public get peripheralId(): number {\n    return this.identity.peripheralId;\n  }\n\n  /**\n   * Name of the peripheral.\n   */\n  public get peripheralName(): string {\n    return this.identity.peripheralName;\n  }\n\n  /**\n   * Indicates whether the axis is a peripheral or part of an integrated device.\n   */\n  public get isPeripheral(): boolean {\n    return this.identity.isPeripheral;\n  }\n\n  /**\n   * Determines the type of an axis and units it accepts.\n   */\n  public get axisType(): AxisType {\n    return this.identity.axisType;\n  }\n\n  constructor(device: Device, axisNumber: number) {\n    this._device = device;\n    this._axisNumber = axisNumber;\n    this._settings = new AxisSettings(this);\n    this._storage = new AxisStorage(this);\n    this._warnings = new Warnings(device, axisNumber);\n  }\n\n  /**\n   * Homes axis. Axis returns to its homing position.\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.DeviceHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axis 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.DeviceStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Parks the axis in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks axis. Axis will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @return True if the axis is currently parked. False otherwise.\n   */\n  public async isParked(): Promise<boolean> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/is_parked',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Waits until axis 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.DeviceWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is executing a motion command.\n   * @return True if the axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/is_busy',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Move axis to absolute position.\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.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.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/move', request);\n  }\n\n  /**\n   * Moves the axis to the maximum position as specified by limit.max.\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.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.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/move', request);\n  }\n\n  /**\n   * Moves the axis to the minimum position as specified by limit.min.\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.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.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/move', request);\n  }\n\n  /**\n   * Move axis to position relative to current position.\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.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.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/move', request);\n  }\n\n  /**\n   * Begins to move axis at specified speed.\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.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Returns current axis position.\n   * @param unit Units of position.\n   * @return Axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setSetting('pos');\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/get_setting',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis.\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 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    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\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 axis 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 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    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response[]> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\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 axis 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   */\n  public async genericCommandNoResponse(\n    command: string\n  ): Promise<void> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\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 axis and 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.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommandTemplate(commandTemplate);\n    request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/prepare_command',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string that represents the axis.\n   * @return A string that represents the axis.\n   */\n  public toString(): string {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/axis_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a serialization of the current axis state that can be saved and reapplied.\n   * @return A serialization of the current state of the axis.\n   */\n  public async getState(): Promise<string> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.StringResponse>(\n      'device/get_state',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Applies a saved state to an axis.\n   * @param state The state object to apply to this axis.\n   */\n  public async setState(\n    state: string\n  ): Promise<void> {\n    const request = new gateway.SetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setState(state);\n\n    await gateway.callAsync('device/set_state', request);\n  }\n\n  /**\n   * Checks if a state can be applied to this axis.\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 explanation of why this state cannot be set to this axis.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<string> {\n    const request = new gateway.CanSetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setState(state);\n\n    const response = await gateway.callAsync<gateway.CanSetStateAxisResponse>(\n      'device/can_set_axis_state',\n      request,\n      gateway.CanSetStateAxisResponse);\n    return response.getError();\n  }\n\n  /**\n   * Returns identity.\n   * @return Axis identity.\n   */\n  private _retrieveIdentity(): AxisIdentity {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.DeviceGetAxisIdentityResponse>(\n      'device/get_axis_identity',\n      request,\n      gateway.DeviceGetAxisIdentityResponse);\n    return AxisIdentity.fromProtobuf(response.getIdentity()!.toObject());\n  }\n}\n"]}

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

@@ -52,4 +52,23 @@ export declare class AxisSettings {
      * @return Setting value.
      */
     convertFromNativeUnits(setting: string, value: number, unit: Units): number;
+    /**
+     * Returns the default value of a setting.
+     * @param setting Name of the setting.
+     * @param unit Units of setting.
+     * @return Default setting value.
+     */
+    getDefault(setting: string, unit?: Units): number;
+    /**
+     * Returns the default value of a setting as a string.
+     * @param setting Name of the setting.
+     * @return Default setting value.
+     */
+    getDefaultString(setting: string): string;
+    /**
+     * Indicates if given setting can be converted from and to native units.
+     * @param setting Name of the setting.
+     * @return True if unit conversion can be performed.
+     */
+    canConvertNativeUnits(setting: string): boolean;
 }