@zaber/motion 2.11.2 → 2.13.1

package/dist/lib/ascii/device_io.js

@@ -90,7 +90,7 @@ class DeviceIO {
         request.setDevice(this._device.deviceAddress);
         request.setChannelType('di');
         request.setChannelNumber(channelNumber);
-        const response = await gateway.callAsync('device/get_digital_io', request, gateway.DeviceGetDigitalIOResponse);
+        const response = await gateway.callAsync('device/get_digital_io', request, gateway.BoolResponse);
         return response.getValue();
     }
     /**
@@ -104,7 +104,7 @@ class DeviceIO {
         request.setDevice(this._device.deviceAddress);
         request.setChannelType('do');
         request.setChannelNumber(channelNumber);
-        const response = await gateway.callAsync('device/get_digital_io', request, gateway.DeviceGetDigitalIOResponse);
+        const response = await gateway.callAsync('device/get_digital_io', request, gateway.BoolResponse);
         return response.getValue();
     }
     /**
@@ -118,7 +118,7 @@ class DeviceIO {
         request.setDevice(this._device.deviceAddress);
         request.setChannelType('ai');
         request.setChannelNumber(channelNumber);
-        const response = await gateway.callAsync('device/get_analog_io', request, gateway.DeviceGetAnalogIOResponse);
+        const response = await gateway.callAsync('device/get_analog_io', request, gateway.DoubleResponse);
         return response.getValue();
     }
     /**
@@ -132,7 +132,7 @@ class DeviceIO {
         request.setDevice(this._device.deviceAddress);
         request.setChannelType('ao');
         request.setChannelNumber(channelNumber);
-        const response = await gateway.callAsync('device/get_analog_io', request, gateway.DeviceGetAnalogIOResponse);
+        const response = await gateway.callAsync('device/get_analog_io', request, gateway.DoubleResponse);
         return response.getValue();
     }
     /**
@@ -188,7 +188,7 @@ class DeviceIO {
      * @return An object containing the number of I/O channels the device has.
      */
     async getChannelsInfo() {
-        const request = new gateway.DeviceGetIOChannelsInfoRequest();
+        const request = new gateway.DeviceEmptyRequest();
         request.setInterfaceId(this._device.connection.interfaceId);
         request.setDevice(this._device.deviceAddress);
         const response = await gateway.callAsync('device/get_io_info', request, gateway.DeviceIOInfo);

package/dist/lib/ascii/device_io.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 * as gateway from '../gateway';\nimport { DeviceIOInfo } from './device_io_info';\n\n/**\n * Class providing access to the I/O channels of the device.\n */\nexport class DeviceIO {\n  private _device: Device;\n\n  constructor(device: Device) {\n    this._device = device;\n  }\n\n  /**\n   * Returns the current values of all digital input channels.\n   * @return True if voltage is present on the input channel and false otherwise.\n   */\n  public async getAllDigitalInputs(): Promise<boolean[]> {\n    const request = new gateway.DeviceGetAllDigitalIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('di');\n\n    const response = await gateway.callAsync<gateway.DeviceGetAllDigitalIOResponse>(\n      'device/get_all_digital_io',\n      request,\n      gateway.DeviceGetAllDigitalIOResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Returns the current values of all digital output channels.\n   * @return True if the output channel is conducting and false otherwise.\n   */\n  public async getAllDigitalOutputs(): Promise<boolean[]> {\n    const request = new gateway.DeviceGetAllDigitalIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('do');\n\n    const response = await gateway.callAsync<gateway.DeviceGetAllDigitalIOResponse>(\n      'device/get_all_digital_io',\n      request,\n      gateway.DeviceGetAllDigitalIOResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Returns the current values of all analog input channels.\n   * @return  Measurements of the voltage present on the input channels.\n   */\n  public async getAllAnalogInputs(): Promise<number[]> {\n    const request = new gateway.DeviceGetAllAnalogIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('ai');\n\n    const response = await gateway.callAsync<gateway.DeviceGetAllAnalogIOResponse>(\n      'device/get_all_analog_io',\n      request,\n      gateway.DeviceGetAllAnalogIOResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Returns the current values of all analog output channels.\n   * @return  Measurements of voltage that the output channels are conducting.\n   */\n  public async getAllAnalogOutputs(): Promise<number[]> {\n    const request = new gateway.DeviceGetAllAnalogIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('ao');\n\n    const response = await gateway.callAsync<gateway.DeviceGetAllAnalogIOResponse>(\n      'device/get_all_analog_io',\n      request,\n      gateway.DeviceGetAllAnalogIOResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Returns the current value of the specified digital input channel.\n   * @param channelNumber Channel number starting at 1.\n   * @return True if voltage is present on the input channel and false otherwise.\n   */\n  public async getDigitalInput(\n    channelNumber: number\n  ): Promise<boolean> {\n    const request = new gateway.DeviceGetDigitalIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('di');\n    request.setChannelNumber(channelNumber);\n\n    const response = await gateway.callAsync<gateway.DeviceGetDigitalIOResponse>(\n      'device/get_digital_io',\n      request,\n      gateway.DeviceGetDigitalIOResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns the current value of the specified digital output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @return True if the output channel is conducting and false otherwise.\n   */\n  public async getDigitalOutput(\n    channelNumber: number\n  ): Promise<boolean> {\n    const request = new gateway.DeviceGetDigitalIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('do');\n    request.setChannelNumber(channelNumber);\n\n    const response = await gateway.callAsync<gateway.DeviceGetDigitalIOResponse>(\n      'device/get_digital_io',\n      request,\n      gateway.DeviceGetDigitalIOResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns the current value of the specified analog input channel.\n   * @param channelNumber Channel number starting at 1.\n   * @return  A measurementsof the voltage present on the input channel.\n   */\n  public async getAnalogInput(\n    channelNumber: number\n  ): Promise<number> {\n    const request = new gateway.DeviceGetAnalogIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('ai');\n    request.setChannelNumber(channelNumber);\n\n    const response = await gateway.callAsync<gateway.DeviceGetAnalogIOResponse>(\n      'device/get_analog_io',\n      request,\n      gateway.DeviceGetAnalogIOResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns the current values of the specified analog output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @return A measurement of voltage that the output channel is conducting.\n   */\n  public async getAnalogOutput(\n    channelNumber: number\n  ): Promise<number> {\n    const request = new gateway.DeviceGetAnalogIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('ao');\n    request.setChannelNumber(channelNumber);\n\n    const response = await gateway.callAsync<gateway.DeviceGetAnalogIOResponse>(\n      'device/get_analog_io',\n      request,\n      gateway.DeviceGetAnalogIOResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets values for all digital output channels.\n   * @param values True to set the output channel to conducting and false to turn it off.\n   */\n  public async setAllDigitalOutputs(\n    values: boolean[]\n  ): Promise<void> {\n    const request = new gateway.DeviceSetAllDigitalOutputsRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setValuesList(values);\n\n    await gateway.callAsync('device/set_all_digital_outputs', request);\n  }\n\n  /**\n   * Sets values for all analog output channels.\n   * @param values Voltage values to set the output channels to.\n   */\n  public async setAllAnalogOutputs(\n    values: number[]\n  ): Promise<void> {\n    const request = new gateway.DeviceSetAllAnalogOutputsRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setValuesList(values);\n\n    await gateway.callAsync('device/set_all_analog_outputs', request);\n  }\n\n  /**\n   * Sets value for the specified digital output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value True to set the output channel to conducting and false to turn it off.\n   */\n  public async setDigitalOutput(\n    channelNumber: number,\n    value: boolean\n  ): Promise<void> {\n    const request = new gateway.DeviceSetDigitalOutputRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelNumber(channelNumber);\n    request.setValue(value);\n\n    await gateway.callAsync('device/set_digital_output', request);\n  }\n\n  /**\n   * Sets value for the specified analog output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value Value to set the output channel voltage to.\n   */\n  public async setAnalogOutput(\n    channelNumber: number,\n    value: number\n  ): Promise<void> {\n    const request = new gateway.DeviceSetAnalogOutputRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelNumber(channelNumber);\n    request.setValue(value);\n\n    await gateway.callAsync('device/set_analog_output', request);\n  }\n\n  /**\n   * Returns the number of I/O channels the device has.\n   * @return An object containing the number of I/O channels the device has.\n   */\n  public async getChannelsInfo(): Promise<DeviceIOInfo> {\n    const request = new gateway.DeviceGetIOChannelsInfoRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.DeviceIOInfo>(\n      'device/get_io_info',\n      request,\n      gateway.DeviceIOInfo);\n    return DeviceIOInfo.fromProtobuf(response.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 * as gateway from '../gateway';\nimport { DeviceIOInfo } from './device_io_info';\n\n/**\n * Class providing access to the I/O channels of the device.\n */\nexport class DeviceIO {\n  private _device: Device;\n\n  constructor(device: Device) {\n    this._device = device;\n  }\n\n  /**\n   * Returns the current values of all digital input channels.\n   * @return True if voltage is present on the input channel and false otherwise.\n   */\n  public async getAllDigitalInputs(): Promise<boolean[]> {\n    const request = new gateway.DeviceGetAllDigitalIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('di');\n\n    const response = await gateway.callAsync<gateway.DeviceGetAllDigitalIOResponse>(\n      'device/get_all_digital_io',\n      request,\n      gateway.DeviceGetAllDigitalIOResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Returns the current values of all digital output channels.\n   * @return True if the output channel is conducting and false otherwise.\n   */\n  public async getAllDigitalOutputs(): Promise<boolean[]> {\n    const request = new gateway.DeviceGetAllDigitalIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('do');\n\n    const response = await gateway.callAsync<gateway.DeviceGetAllDigitalIOResponse>(\n      'device/get_all_digital_io',\n      request,\n      gateway.DeviceGetAllDigitalIOResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Returns the current values of all analog input channels.\n   * @return  Measurements of the voltage present on the input channels.\n   */\n  public async getAllAnalogInputs(): Promise<number[]> {\n    const request = new gateway.DeviceGetAllAnalogIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('ai');\n\n    const response = await gateway.callAsync<gateway.DeviceGetAllAnalogIOResponse>(\n      'device/get_all_analog_io',\n      request,\n      gateway.DeviceGetAllAnalogIOResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Returns the current values of all analog output channels.\n   * @return  Measurements of voltage that the output channels are conducting.\n   */\n  public async getAllAnalogOutputs(): Promise<number[]> {\n    const request = new gateway.DeviceGetAllAnalogIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('ao');\n\n    const response = await gateway.callAsync<gateway.DeviceGetAllAnalogIOResponse>(\n      'device/get_all_analog_io',\n      request,\n      gateway.DeviceGetAllAnalogIOResponse);\n    return response.getValuesList();\n  }\n\n  /**\n   * Returns the current value of the specified digital input channel.\n   * @param channelNumber Channel number starting at 1.\n   * @return True if voltage is present on the input channel and false otherwise.\n   */\n  public async getDigitalInput(\n    channelNumber: number\n  ): Promise<boolean> {\n    const request = new gateway.DeviceGetDigitalIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('di');\n    request.setChannelNumber(channelNumber);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/get_digital_io',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns the current value of the specified digital output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @return True if the output channel is conducting and false otherwise.\n   */\n  public async getDigitalOutput(\n    channelNumber: number\n  ): Promise<boolean> {\n    const request = new gateway.DeviceGetDigitalIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('do');\n    request.setChannelNumber(channelNumber);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/get_digital_io',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns the current value of the specified analog input channel.\n   * @param channelNumber Channel number starting at 1.\n   * @return  A measurementsof the voltage present on the input channel.\n   */\n  public async getAnalogInput(\n    channelNumber: number\n  ): Promise<number> {\n    const request = new gateway.DeviceGetAnalogIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('ai');\n    request.setChannelNumber(channelNumber);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/get_analog_io',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns the current values of the specified analog output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @return A measurement of voltage that the output channel is conducting.\n   */\n  public async getAnalogOutput(\n    channelNumber: number\n  ): Promise<number> {\n    const request = new gateway.DeviceGetAnalogIORequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelType('ao');\n    request.setChannelNumber(channelNumber);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/get_analog_io',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets values for all digital output channels.\n   * @param values True to set the output channel to conducting and false to turn it off.\n   */\n  public async setAllDigitalOutputs(\n    values: boolean[]\n  ): Promise<void> {\n    const request = new gateway.DeviceSetAllDigitalOutputsRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setValuesList(values);\n\n    await gateway.callAsync('device/set_all_digital_outputs', request);\n  }\n\n  /**\n   * Sets values for all analog output channels.\n   * @param values Voltage values to set the output channels to.\n   */\n  public async setAllAnalogOutputs(\n    values: number[]\n  ): Promise<void> {\n    const request = new gateway.DeviceSetAllAnalogOutputsRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setValuesList(values);\n\n    await gateway.callAsync('device/set_all_analog_outputs', request);\n  }\n\n  /**\n   * Sets value for the specified digital output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value True to set the output channel to conducting and false to turn it off.\n   */\n  public async setDigitalOutput(\n    channelNumber: number,\n    value: boolean\n  ): Promise<void> {\n    const request = new gateway.DeviceSetDigitalOutputRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelNumber(channelNumber);\n    request.setValue(value);\n\n    await gateway.callAsync('device/set_digital_output', request);\n  }\n\n  /**\n   * Sets value for the specified analog output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value Value to set the output channel voltage to.\n   */\n  public async setAnalogOutput(\n    channelNumber: number,\n    value: number\n  ): Promise<void> {\n    const request = new gateway.DeviceSetAnalogOutputRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setChannelNumber(channelNumber);\n    request.setValue(value);\n\n    await gateway.callAsync('device/set_analog_output', request);\n  }\n\n  /**\n   * Returns the number of I/O channels the device has.\n   * @return An object containing the number of I/O channels the device has.\n   */\n  public async getChannelsInfo(): Promise<DeviceIOInfo> {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n\n    const response = await gateway.callAsync<gateway.DeviceIOInfo>(\n      'device/get_io_info',\n      request,\n      gateway.DeviceIOInfo);\n    return DeviceIOInfo.fromProtobuf(response.toObject());\n  }\n}\n"]}

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

@@ -52,4 +52,23 @@ export declare class DeviceSettings {
      * @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;
 }

package/dist/lib/ascii/device_settings.js

@@ -44,7 +44,7 @@ class DeviceSettings {
         request.setDevice(this._device.deviceAddress);
         request.setSetting(setting);
         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();
     }
     /**
@@ -74,7 +74,7 @@ class DeviceSettings {
         request.setInterfaceId(this._device.connection.interfaceId);
         request.setDevice(this._device.deviceAddress);
         request.setSetting(setting);
-        const response = await gateway.callAsync('device/get_setting_str', request, gateway.DeviceGetSettingStrResponse);
+        const response = await gateway.callAsync('device/get_setting_str', request, gateway.StringResponse);
         return response.getValue();
     }
     /**
@@ -105,7 +105,7 @@ class DeviceSettings {
         request.setSetting(setting);
         request.setValue(value);
         request.setUnit(unit);
-        const response = gateway.callSync('device/convert_setting', request, gateway.DeviceConvertSettingResponse);
+        const response = gateway.callSync('device/convert_setting', request, gateway.DoubleResponse);
         return response.getValue();
     }
     /**
@@ -123,7 +123,48 @@ class DeviceSettings {
         request.setSetting(setting);
         request.setValue(value);
         request.setUnit(unit);
-        const response = gateway.callSync('device/convert_setting', request, gateway.DeviceConvertSettingResponse);
+        const response = gateway.callSync('device/convert_setting', request, gateway.DoubleResponse);
+        return response.getValue();
+    }
+    /**
+     * Returns the default value of a setting.
+     * @param setting Name of the setting.
+     * @param unit Units of setting.
+     * @return Default setting value.
+     */
+    getDefault(setting, unit = units_1.Units.NATIVE) {
+        const request = new gateway.DeviceGetSettingRequest();
+        request.setInterfaceId(this._device.connection.interfaceId);
+        request.setDevice(this._device.deviceAddress);
+        request.setSetting(setting);
+        request.setUnit(unit);
+        const response = gateway.callSync('device/get_setting_default', request, gateway.DoubleResponse);
+        return response.getValue();
+    }
+    /**
+     * Returns the default value of a setting as a string.
+     * @param setting Name of the setting.
+     * @return Default setting value.
+     */
+    getDefaultString(setting) {
+        const request = new gateway.DeviceGetSettingRequest();
+        request.setInterfaceId(this._device.connection.interfaceId);
+        request.setDevice(this._device.deviceAddress);
+        request.setSetting(setting);
+        const response = gateway.callSync('device/get_setting_default_str', request, gateway.StringResponse);
+        return response.getValue();
+    }
+    /**
+     * 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) {
+        const request = new gateway.DeviceGetSettingRequest();
+        request.setInterfaceId(this._device.connection.interfaceId);
+        request.setDevice(this._device.deviceAddress);
+        request.setSetting(setting);
+        const response = gateway.callSync('device/can_convert_setting', request, gateway.BoolResponse);
         return response.getValue();
     }
 }

package/dist/lib/ascii/device_settings.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 { Units } from '../units';\nimport * as gateway from '../gateway';\n\n/**\n * Class providing access to various device settings and properties.\n */\nexport class DeviceSettings {\n  private _device: Device;\n\n  constructor(device: Device) {\n    this._device = device;\n  }\n\n  /**\n   * Returns any device setting or property.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @param unit Units of setting.\n   * @return Setting value.\n   */\n  public async get(\n    setting: string,\n    unit: Units = 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.setSetting(setting);\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   * Sets any device setting.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @param value Value of the setting.\n   * @param unit Units of setting.\n   */\n  public async set(\n    setting: string,\n    value: number,\n    unit: Units = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.DeviceSetSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/set_setting', request);\n  }\n\n  /**\n   * Returns any device setting or property as a string.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @return Setting value.\n   */\n  public async getString(\n    setting: string\n  ): Promise<string> {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting);\n\n    const response = await gateway.callAsync<gateway.DeviceGetSettingStrResponse>(\n      'device/get_setting_str',\n      request,\n      gateway.DeviceGetSettingStrResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets any device setting as a string.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @param value Value of the setting.\n   */\n  public async setString(\n    setting: string,\n    value: string\n  ): Promise<void> {\n    const request = new gateway.DeviceSetSettingStrRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting);\n    request.setValue(value);\n\n    await gateway.callAsync('device/set_setting_str', request);\n  }\n\n  /**\n   * Convert arbitrary setting value to Zaber native units.\n   * @param setting Name of the setting.\n   * @param value Value of the setting in units specified by following argument.\n   * @param unit Units of the value.\n   * @return Setting value.\n   */\n  public convertToNativeUnits(\n    setting: string,\n    value: number,\n    unit: Units\n  ): number {\n    const request = new gateway.DeviceConvertSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DeviceConvertSettingResponse>(\n      'device/convert_setting',\n      request,\n      gateway.DeviceConvertSettingResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Convert arbitrary setting value from Zaber native units.\n   * @param setting Name of the setting.\n   * @param value Value of the setting in Zaber native units.\n   * @param unit Units to convert value to.\n   * @return Setting value.\n   */\n  public convertFromNativeUnits(\n    setting: string,\n    value: number,\n    unit: Units\n  ): number {\n    const request = new gateway.DeviceConvertSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setFromNative(true);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DeviceConvertSettingResponse>(\n      'device/convert_setting',\n      request,\n      gateway.DeviceConvertSettingResponse);\n    return response.getValue();\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 { Units } from '../units';\nimport * as gateway from '../gateway';\n\n/**\n * Class providing access to various device settings and properties.\n */\nexport class DeviceSettings {\n  private _device: Device;\n\n  constructor(device: Device) {\n    this._device = device;\n  }\n\n  /**\n   * Returns any device setting or property.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @param unit Units of setting.\n   * @return Setting value.\n   */\n  public async get(\n    setting: string,\n    unit: Units = 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.setSetting(setting);\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   * Sets any device setting.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @param value Value of the setting.\n   * @param unit Units of setting.\n   */\n  public async set(\n    setting: string,\n    value: number,\n    unit: Units = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.DeviceSetSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    await gateway.callAsync('device/set_setting', request);\n  }\n\n  /**\n   * Returns any device setting or property as a string.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @return Setting value.\n   */\n  public async getString(\n    setting: string\n  ): Promise<string> {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting);\n\n    const response = await gateway.callAsync<gateway.StringResponse>(\n      'device/get_setting_str',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sets any device setting as a string.\n   * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).\n   * @param setting Name of the setting.\n   * @param value Value of the setting.\n   */\n  public async setString(\n    setting: string,\n    value: string\n  ): Promise<void> {\n    const request = new gateway.DeviceSetSettingStrRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting);\n    request.setValue(value);\n\n    await gateway.callAsync('device/set_setting_str', request);\n  }\n\n  /**\n   * Convert arbitrary setting value to Zaber native units.\n   * @param setting Name of the setting.\n   * @param value Value of the setting in units specified by following argument.\n   * @param unit Units of the value.\n   * @return Setting value.\n   */\n  public convertToNativeUnits(\n    setting: string,\n    value: number,\n    unit: Units\n  ): number {\n    const request = new gateway.DeviceConvertSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DoubleResponse>(\n      'device/convert_setting',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Convert arbitrary setting value from Zaber native units.\n   * @param setting Name of the setting.\n   * @param value Value of the setting in Zaber native units.\n   * @param unit Units to convert value to.\n   * @return Setting value.\n   */\n  public convertFromNativeUnits(\n    setting: string,\n    value: number,\n    unit: Units\n  ): number {\n    const request = new gateway.DeviceConvertSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setFromNative(true);\n    request.setSetting(setting);\n    request.setValue(value);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DoubleResponse>(\n      'device/convert_setting',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns the default value of a setting.\n   * @param setting Name of the setting.\n   * @param unit Units of setting.\n   * @return Default setting value.\n   */\n  public getDefault(\n    setting: string,\n    unit: Units = Units.NATIVE\n  ): number {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DoubleResponse>(\n      'device/get_setting_default',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns the default value of a setting as a string.\n   * @param setting Name of the setting.\n   * @return Default setting value.\n   */\n  public getDefaultString(\n    setting: string\n  ): string {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/get_setting_default_str',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Indicates if given setting can be converted from and to native units.\n   * @param setting Name of the setting.\n   * @return True if unit conversion can be performed.\n   */\n  public canConvertNativeUnits(\n    setting: string\n  ): boolean {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this._device.connection.interfaceId);\n    request.setDevice(this._device.deviceAddress);\n    request.setSetting(setting);\n\n    const response = gateway.callSync<gateway.BoolResponse>(\n      'device/can_convert_setting',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\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);
     }
     /**
@@ -191,12 +236,12 @@ class Lockstep {
      * @return True if the axes are currently executing a motion command.
      */
     async isBusy() {
-        const request = new gateway.LockstepIsBusyRequest();
+        const request = new gateway.LockstepEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setLockstepGroupId(this.lockstepGroupId);
-        const response = await gateway.callAsync('device/lockstep_is_busy', request, gateway.LockstepIsBusyResponse);
-        return response.getIsBusy();
+        const response = await gateway.callAsync('device/lockstep_is_busy', request, gateway.BoolResponse);
+        return response.getValue();
     }
     /**
      * @deprecated Use GetAxisNumbers instead.
@@ -205,7 +250,7 @@ class Lockstep {
      * @return LockstepAxes instance which contains the axes numbers of the lockstep group.
      */
     async getAxes() {
-        const request = new gateway.LockstepGetAxesRequest();
+        const request = new gateway.LockstepEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setLockstepGroupId(this.lockstepGroupId);
@@ -217,7 +262,7 @@ class Lockstep {
      * @return Axis numbers in order specified when enabling lockstep.
      */
     async getAxisNumbers() {
-        const request = new gateway.LockstepGetAxisNumbersRequest();
+        const request = new gateway.LockstepEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setLockstepGroupId(this.lockstepGroupId);
@@ -257,24 +302,24 @@ class Lockstep {
      * @return True if a lockstep group with this ID is enabled on the device.
      */
     async isEnabled() {
-        const request = new gateway.LockstepIsEnabledRequest();
+        const request = new gateway.LockstepEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setLockstepGroupId(this.lockstepGroupId);
-        const response = await gateway.callAsync('device/lockstep_is_enabled', request, gateway.LockstepIsEnabledResponse);
-        return response.getIsEnabled();
+        const response = await gateway.callAsync('device/lockstep_is_enabled', request, gateway.BoolResponse);
+        return response.getValue();
     }
     /**
      * Returns a string which represents the enabled lockstep group.
      * @return String which represents the enabled lockstep group.
      */
     toString() {
-        const request = new gateway.LockstepToStringRequest();
+        const request = new gateway.LockstepEmptyRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setLockstepGroupId(this.lockstepGroupId);
-        const response = gateway.callSync('device/lockstep_to_string', request, gateway.LockstepToStringResponse);
-        return response.getToStr();
+        const response = gateway.callSync('device/lockstep_to_string', request, gateway.StringResponse);
+        return response.getValue();
     }
 }
 exports.Lockstep = Lockstep;