@zaber/motion 2.12.0 → 2.13.0

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Files changed (22) hide show
  1. package/dist/binding/wasm/zaber-motion-lib.wasm +0 -0
  2. package/dist/lib/ascii/axis.d.ts +33 -6
  3. package/dist/lib/ascii/axis.js +50 -5
  4. package/dist/lib/ascii/axis.js.map +1 -1
  5. package/dist/lib/ascii/lockstep.d.ts +33 -6
  6. package/dist/lib/ascii/lockstep.js +50 -5
  7. package/dist/lib/ascii/lockstep.js.map +1 -1
  8. package/dist/lib/ascii/servo_tuner.d.ts +11 -0
  9. package/dist/lib/ascii/servo_tuner.js +22 -0
  10. package/dist/lib/ascii/servo_tuner.js.map +1 -1
  11. package/dist/lib/ascii/setting_constants.d.ts +124 -0
  12. package/dist/lib/ascii/setting_constants.js +124 -0
  13. package/dist/lib/ascii/setting_constants.js.map +1 -1
  14. package/dist/lib/ascii/stream.d.ts +5 -5
  15. package/dist/lib/ascii/stream.js.map +1 -1
  16. package/dist/lib/protobufs/main_pb.d.ts +52 -0
  17. package/dist/lib/protobufs/main_pb.js +394 -2
  18. package/dist/lib/protobufs/main_pb.js.map +1 -1
  19. package/dist/lib/units.d.ts +63 -1
  20. package/dist/lib/units.js +70 -1
  21. package/dist/lib/units.js.map +1 -1
  22. package/package.json +1 -1
package/dist/lib/ascii/axis.d.ts CHANGED
@@ -3,7 +3,7 @@ import { AxisIdentity } from './axis_identity';
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  import { AxisType } from './axis_type';
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  import { Warnings } from './warnings';
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  import { AxisSettings } from './axis_settings';
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- import { Angle, Length, Native, AngularVelocity, Velocity } from '../units';
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+ import { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration } from '../units';
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  import { Response } from './response';
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  import { Measurement } from '../measurement';
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  import { AxisStorage } from './storage';
@@ -97,31 +97,58 @@ export declare class Axis {
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  * @param position Absolute position.
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  * @param unit Units of position.
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  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
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+ * @param velocity Movement velocity.
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+ * Default value of 0 indicates that the maxspeed setting is used instead.
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+ * @param velocityUnit Units of velocity.
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+ * @param acceleration Movement acceleration.
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+ * Default value of 0 indicates that the accel setting is used instead.
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+ * @param accelerationUnit Units of acceleration.
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  */
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- moveAbsolute(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean): Promise<void>;
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+ moveAbsolute(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
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  /**
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  * Moves the axis to the maximum position as specified by limit.max.
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  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
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+ * @param velocity Movement velocity.
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+ * Default value of 0 indicates that the maxspeed setting is used instead.
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+ * @param velocityUnit Units of velocity.
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+ * @param acceleration Movement acceleration.
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+ * Default value of 0 indicates that the accel setting is used instead.
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+ * @param accelerationUnit Units of acceleration.
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  */
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- moveMax(waitUntilIdle?: boolean): Promise<void>;
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+ moveMax(waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
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  /**
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  * Moves the axis to the minimum position as specified by limit.min.
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  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
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+ * @param velocity Movement velocity.
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+ * Default value of 0 indicates that the maxspeed setting is used instead.
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+ * @param velocityUnit Units of velocity.
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+ * @param acceleration Movement acceleration.
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+ * Default value of 0 indicates that the accel setting is used instead.
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+ * @param accelerationUnit Units of acceleration.
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  */
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- moveMin(waitUntilIdle?: boolean): Promise<void>;
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+ moveMin(waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
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  /**
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  * Move axis to position relative to current position.
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  * @param position Relative position.
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  * @param unit Units of position.
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  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
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+ * @param velocity Movement velocity.
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+ * Default value of 0 indicates that the maxspeed setting is used instead.
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+ * @param velocityUnit Units of velocity.
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+ * @param acceleration Movement acceleration.
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+ * Default value of 0 indicates that the accel setting is used instead.
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+ * @param accelerationUnit Units of acceleration.
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  */
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- moveRelative(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean): Promise<void>;
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+ moveRelative(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
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  /**
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  * Begins to move axis at specified speed.
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  * @param velocity Movement velocity.
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  * @param unit Units of velocity.
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+ * @param acceleration Movement acceleration.
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+ * Default value of 0 indicates that the accel setting is used instead.
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+ * @param accelerationUnit Units of acceleration.
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  */
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- moveVelocity(velocity: number, unit?: Velocity | AngularVelocity | Native): Promise<void>;
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+ moveVelocity(velocity: number, unit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
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  /**
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  * Returns current axis position.
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  * @param unit Units of position.
package/dist/lib/ascii/axis.js CHANGED
@@ -188,8 +188,14 @@ class Axis {
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  * @param position Absolute position.
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  * @param unit Units of position.
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  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
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+ * @param velocity Movement velocity.
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+ * Default value of 0 indicates that the maxspeed setting is used instead.
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+ * @param velocityUnit Units of velocity.
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+ * @param acceleration Movement acceleration.
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+ * Default value of 0 indicates that the accel setting is used instead.
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+ * @param accelerationUnit Units of acceleration.
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  */
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- async moveAbsolute(position, unit = units_1.Units.NATIVE, waitUntilIdle = true) {
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+ async moveAbsolute(position, unit = units_1.Units.NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
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  const request = new gateway.DeviceMoveRequest();
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  request.setInterfaceId(this.device.connection.interfaceId);
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  request.setDevice(this.device.deviceAddress);
@@ -198,32 +204,56 @@ class Axis {
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  request.setArg(position);
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  request.setUnit(unit);
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  request.setWaitUntilIdle(waitUntilIdle);
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+ request.setVelocity(velocity);
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+ request.setVelocityUnit(velocityUnit);
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+ request.setAcceleration(acceleration);
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+ request.setAccelerationUnit(accelerationUnit);
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  await gateway.callAsync('device/move', request);
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  }
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  /**
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  * Moves the axis to the maximum position as specified by limit.max.
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  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
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+ * @param velocity Movement velocity.
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+ * Default value of 0 indicates that the maxspeed setting is used instead.
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+ * @param velocityUnit Units of velocity.
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+ * @param acceleration Movement acceleration.
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+ * Default value of 0 indicates that the accel setting is used instead.
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+ * @param accelerationUnit Units of acceleration.
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  */
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- async moveMax(waitUntilIdle = true) {
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+ async moveMax(waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
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  const request = new gateway.DeviceMoveRequest();
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  request.setInterfaceId(this.device.connection.interfaceId);
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  request.setDevice(this.device.deviceAddress);
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  request.setAxis(this.axisNumber);
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  request.setType(gateway.DeviceMoveRequest.MoveType.MAX);
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  request.setWaitUntilIdle(waitUntilIdle);
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+ request.setVelocity(velocity);
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+ request.setVelocityUnit(velocityUnit);
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+ request.setAcceleration(acceleration);
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+ request.setAccelerationUnit(accelerationUnit);
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  await gateway.callAsync('device/move', request);
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  }
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  /**
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  * Moves the axis to the minimum position as specified by limit.min.
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  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
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+ * @param velocity Movement velocity.
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+ * Default value of 0 indicates that the maxspeed setting is used instead.
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+ * @param velocityUnit Units of velocity.
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+ * @param acceleration Movement acceleration.
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+ * Default value of 0 indicates that the accel setting is used instead.
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+ * @param accelerationUnit Units of acceleration.
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  */
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- async moveMin(waitUntilIdle = true) {
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+ async moveMin(waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
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  const request = new gateway.DeviceMoveRequest();
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  request.setInterfaceId(this.device.connection.interfaceId);
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  request.setDevice(this.device.deviceAddress);
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  request.setAxis(this.axisNumber);
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  request.setType(gateway.DeviceMoveRequest.MoveType.MIN);
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  request.setWaitUntilIdle(waitUntilIdle);
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+ request.setVelocity(velocity);
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+ request.setVelocityUnit(velocityUnit);
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+ request.setAcceleration(acceleration);
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+ request.setAccelerationUnit(accelerationUnit);
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  await gateway.callAsync('device/move', request);
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  }
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  /**
@@ -231,8 +261,14 @@ class Axis {
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  * @param position Relative position.
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  * @param unit Units of position.
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  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
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+ * @param velocity Movement velocity.
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+ * Default value of 0 indicates that the maxspeed setting is used instead.
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+ * @param velocityUnit Units of velocity.
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+ * @param acceleration Movement acceleration.
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+ * Default value of 0 indicates that the accel setting is used instead.
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+ * @param accelerationUnit Units of acceleration.
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  */
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- async moveRelative(position, unit = units_1.Units.NATIVE, waitUntilIdle = true) {
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+ async moveRelative(position, unit = units_1.Units.NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
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  const request = new gateway.DeviceMoveRequest();
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  request.setInterfaceId(this.device.connection.interfaceId);
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  request.setDevice(this.device.deviceAddress);
@@ -241,14 +277,21 @@ class Axis {
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  request.setArg(position);
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  request.setUnit(unit);
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  request.setWaitUntilIdle(waitUntilIdle);
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+ request.setVelocity(velocity);
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+ request.setVelocityUnit(velocityUnit);
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+ request.setAcceleration(acceleration);
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+ request.setAccelerationUnit(accelerationUnit);
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  await gateway.callAsync('device/move', request);
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  }
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  /**
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  * Begins to move axis at specified speed.
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  * @param velocity Movement velocity.
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  * @param unit Units of velocity.
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+ * @param acceleration Movement acceleration.
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+ * Default value of 0 indicates that the accel setting is used instead.
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+ * @param accelerationUnit Units of acceleration.
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  */
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- async moveVelocity(velocity, unit = units_1.Units.NATIVE) {
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+ async moveVelocity(velocity, unit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
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  const request = new gateway.DeviceMoveRequest();
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  request.setInterfaceId(this.device.connection.interfaceId);
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  request.setDevice(this.device.deviceAddress);
@@ -256,6 +299,8 @@ class Axis {
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  request.setType(gateway.DeviceMoveRequest.MoveType.VEL);
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  request.setArg(velocity);
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  request.setUnit(unit);
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+ request.setAcceleration(acceleration);
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+ request.setAccelerationUnit(accelerationUnit);
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  await gateway.callAsync('device/move', request);
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  }
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  /**
package/dist/lib/ascii/axis.js.map CHANGED
@@ -1 +1 @@
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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';\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.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"]}
1
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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.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 * @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.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"]}
package/dist/lib/ascii/lockstep.d.ts CHANGED
@@ -1,5 +1,5 @@
1
1
  import { Device } from './device';
2
- import { Angle, Length, Native, AngularVelocity, Velocity } from '../units';
2
+ import { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration } from '../units';
3
3
  import { LockstepAxes } from './lockstep_axes';
4
4
  /**
5
5
  * Represents a lockstep group with this ID on a device.
@@ -42,37 +42,64 @@ export declare class Lockstep {
42
42
  * @param position Absolute position.
43
43
  * @param unit Units of position.
44
44
  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
45
+ * @param velocity Movement velocity.
46
+ * Default value of 0 indicates that the maxspeed setting is used instead.
47
+ * @param velocityUnit Units of velocity.
48
+ * @param acceleration Movement acceleration.
49
+ * Default value of 0 indicates that the accel setting is used instead.
50
+ * @param accelerationUnit Units of acceleration.
45
51
  */
46
- moveAbsolute(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean): Promise<void>;
52
+ moveAbsolute(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
47
53
  /**
48
54
  * Move the first axis of the lockstep group to a position relative to its current position.
49
55
  * The other axes in the lockstep group maintain their offsets throughout movement.
50
56
  * @param position Relative position.
51
57
  * @param unit Units of position.
52
58
  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
59
+ * @param velocity Movement velocity.
60
+ * Default value of 0 indicates that the maxspeed setting is used instead.
61
+ * @param velocityUnit Units of velocity.
62
+ * @param acceleration Movement acceleration.
63
+ * Default value of 0 indicates that the accel setting is used instead.
64
+ * @param accelerationUnit Units of acceleration.
53
65
  */
54
- moveRelative(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean): Promise<void>;
66
+ moveRelative(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
55
67
  /**
56
68
  * Moves the first axis of the lockstep group at the specified speed.
57
69
  * The other axes in the lockstep group maintain their offsets throughout movement.
58
70
  * @param velocity Movement velocity.
59
71
  * @param unit Units of velocity.
72
+ * @param acceleration Movement acceleration.
73
+ * Default value of 0 indicates that the accel setting is used instead.
74
+ * @param accelerationUnit Units of acceleration.
60
75
  */
61
- moveVelocity(velocity: number, unit?: Velocity | AngularVelocity | Native): Promise<void>;
76
+ moveVelocity(velocity: number, unit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
62
77
  /**
63
78
  * Moves the axes to the maximum valid position.
64
79
  * The axes in the lockstep group maintain their offsets throughout movement.
65
80
  * Respects lim.max for all axes in the group.
66
81
  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
82
+ * @param velocity Movement velocity.
83
+ * Default value of 0 indicates that the maxspeed setting is used instead.
84
+ * @param velocityUnit Units of velocity.
85
+ * @param acceleration Movement acceleration.
86
+ * Default value of 0 indicates that the accel setting is used instead.
87
+ * @param accelerationUnit Units of acceleration.
67
88
  */
68
- moveMax(waitUntilIdle?: boolean): Promise<void>;
89
+ moveMax(waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
69
90
  /**
70
91
  * Moves the axes to the minimum valid position.
71
92
  * The axes in the lockstep group maintain their offsets throughout movement.
72
93
  * Respects lim.min for all axes in the group.
73
94
  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
95
+ * @param velocity Movement velocity.
96
+ * Default value of 0 indicates that the maxspeed setting is used instead.
97
+ * @param velocityUnit Units of velocity.
98
+ * @param acceleration Movement acceleration.
99
+ * Default value of 0 indicates that the accel setting is used instead.
100
+ * @param accelerationUnit Units of acceleration.
74
101
  */
75
- moveMin(waitUntilIdle?: boolean): Promise<void>;
102
+ moveMin(waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
76
103
  /**
77
104
  * Waits until the lockstep group stops moving.
78
105
  * @param throwErrorOnFault Determines whether to throw error when fault is observed.
package/dist/lib/ascii/lockstep.js CHANGED
@@ -98,8 +98,14 @@ class Lockstep {
98
98
  * @param position Absolute position.
99
99
  * @param unit Units of position.
100
100
  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
101
+ * @param velocity Movement velocity.
102
+ * Default value of 0 indicates that the maxspeed setting is used instead.
103
+ * @param velocityUnit Units of velocity.
104
+ * @param acceleration Movement acceleration.
105
+ * Default value of 0 indicates that the accel setting is used instead.
106
+ * @param accelerationUnit Units of acceleration.
101
107
  */
102
- async moveAbsolute(position, unit = units_1.Units.NATIVE, waitUntilIdle = true) {
108
+ async moveAbsolute(position, unit = units_1.Units.NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
103
109
  const request = new gateway.LockstepMoveRequest();
104
110
  request.setInterfaceId(this.device.connection.interfaceId);
105
111
  request.setDevice(this.device.deviceAddress);
@@ -108,6 +114,10 @@ class Lockstep {
108
114
  request.setArg(position);
109
115
  request.setUnit(unit);
110
116
  request.setWaitUntilIdle(waitUntilIdle);
117
+ request.setVelocity(velocity);
118
+ request.setVelocityUnit(velocityUnit);
119
+ request.setAcceleration(acceleration);
120
+ request.setAccelerationUnit(accelerationUnit);
111
121
  await gateway.callAsync('device/lockstep_move', request);
112
122
  }
113
123
  /**
@@ -116,8 +126,14 @@ class Lockstep {
116
126
  * @param position Relative position.
117
127
  * @param unit Units of position.
118
128
  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
129
+ * @param velocity Movement velocity.
130
+ * Default value of 0 indicates that the maxspeed setting is used instead.
131
+ * @param velocityUnit Units of velocity.
132
+ * @param acceleration Movement acceleration.
133
+ * Default value of 0 indicates that the accel setting is used instead.
134
+ * @param accelerationUnit Units of acceleration.
119
135
  */
120
- async moveRelative(position, unit = units_1.Units.NATIVE, waitUntilIdle = true) {
136
+ async moveRelative(position, unit = units_1.Units.NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
121
137
  const request = new gateway.LockstepMoveRequest();
122
138
  request.setInterfaceId(this.device.connection.interfaceId);
123
139
  request.setDevice(this.device.deviceAddress);
@@ -126,6 +142,10 @@ class Lockstep {
126
142
  request.setArg(position);
127
143
  request.setUnit(unit);
128
144
  request.setWaitUntilIdle(waitUntilIdle);
145
+ request.setVelocity(velocity);
146
+ request.setVelocityUnit(velocityUnit);
147
+ request.setAcceleration(acceleration);
148
+ request.setAccelerationUnit(accelerationUnit);
129
149
  await gateway.callAsync('device/lockstep_move', request);
130
150
  }
131
151
  /**
@@ -133,8 +153,11 @@ class Lockstep {
133
153
  * The other axes in the lockstep group maintain their offsets throughout movement.
134
154
  * @param velocity Movement velocity.
135
155
  * @param unit Units of velocity.
156
+ * @param acceleration Movement acceleration.
157
+ * Default value of 0 indicates that the accel setting is used instead.
158
+ * @param accelerationUnit Units of acceleration.
136
159
  */
137
- async moveVelocity(velocity, unit = units_1.Units.NATIVE) {
160
+ async moveVelocity(velocity, unit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
138
161
  const request = new gateway.LockstepMoveRequest();
139
162
  request.setInterfaceId(this.device.connection.interfaceId);
140
163
  request.setDevice(this.device.deviceAddress);
@@ -142,6 +165,8 @@ class Lockstep {
142
165
  request.setType(gateway.LockstepMoveRequest.MoveType.VEL);
143
166
  request.setArg(velocity);
144
167
  request.setUnit(unit);
168
+ request.setAcceleration(acceleration);
169
+ request.setAccelerationUnit(accelerationUnit);
145
170
  await gateway.callAsync('device/lockstep_move', request);
146
171
  }
147
172
  /**
@@ -149,14 +174,24 @@ class Lockstep {
149
174
  * The axes in the lockstep group maintain their offsets throughout movement.
150
175
  * Respects lim.max for all axes in the group.
151
176
  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
177
+ * @param velocity Movement velocity.
178
+ * Default value of 0 indicates that the maxspeed setting is used instead.
179
+ * @param velocityUnit Units of velocity.
180
+ * @param acceleration Movement acceleration.
181
+ * Default value of 0 indicates that the accel setting is used instead.
182
+ * @param accelerationUnit Units of acceleration.
152
183
  */
153
- async moveMax(waitUntilIdle = true) {
184
+ async moveMax(waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
154
185
  const request = new gateway.LockstepMoveRequest();
155
186
  request.setInterfaceId(this.device.connection.interfaceId);
156
187
  request.setDevice(this.device.deviceAddress);
157
188
  request.setLockstepGroupId(this.lockstepGroupId);
158
189
  request.setType(gateway.LockstepMoveRequest.MoveType.MAX);
159
190
  request.setWaitUntilIdle(waitUntilIdle);
191
+ request.setVelocity(velocity);
192
+ request.setVelocityUnit(velocityUnit);
193
+ request.setAcceleration(acceleration);
194
+ request.setAccelerationUnit(accelerationUnit);
160
195
  await gateway.callAsync('device/lockstep_move', request);
161
196
  }
162
197
  /**
@@ -164,14 +199,24 @@ class Lockstep {
164
199
  * The axes in the lockstep group maintain their offsets throughout movement.
165
200
  * Respects lim.min for all axes in the group.
166
201
  * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
202
+ * @param velocity Movement velocity.
203
+ * Default value of 0 indicates that the maxspeed setting is used instead.
204
+ * @param velocityUnit Units of velocity.
205
+ * @param acceleration Movement acceleration.
206
+ * Default value of 0 indicates that the accel setting is used instead.
207
+ * @param accelerationUnit Units of acceleration.
167
208
  */
168
- async moveMin(waitUntilIdle = true) {
209
+ async moveMin(waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
169
210
  const request = new gateway.LockstepMoveRequest();
170
211
  request.setInterfaceId(this.device.connection.interfaceId);
171
212
  request.setDevice(this.device.deviceAddress);
172
213
  request.setLockstepGroupId(this.lockstepGroupId);
173
214
  request.setType(gateway.LockstepMoveRequest.MoveType.MIN);
174
215
  request.setWaitUntilIdle(waitUntilIdle);
216
+ request.setVelocity(velocity);
217
+ request.setVelocityUnit(velocityUnit);
218
+ request.setAcceleration(acceleration);
219
+ request.setAccelerationUnit(accelerationUnit);
175
220
  await gateway.callAsync('device/lockstep_move', request);
176
221
  }
177
222
  /**