@zaber/motion 2.13.2 → 2.14.0

package/dist/lib/ascii/conversion_factor.js

@@ -0,0 +1,46 @@
+"use strict";
+// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
+// ============= DO NOT EDIT DIRECTLY ============= //
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
+    Object.defineProperty(o, "default", { enumerable: true, value: v });
+}) : function(o, v) {
+    o["default"] = v;
+});
+var __importStar = (this && this.__importStar) || function (mod) {
+    if (mod && mod.__esModule) return mod;
+    var result = {};
+    if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
+    __setModuleDefault(result, mod);
+    return result;
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.ConversionFactor = void 0;
+const gateway = __importStar(require("../gateway"));
+var ConversionFactor;
+(function (ConversionFactor) {
+    ConversionFactor.__type = 'ConversionFactor';
+    /** @internal */
+    function toProtobuf(source) {
+        const pbData = new gateway.ConversionFactor();
+        if (source == null) {
+            return pbData;
+        }
+        pbData.setSetting(source.setting);
+        pbData.setValue(source.value);
+        pbData.setUnit(source.unit);
+        return pbData;
+    }
+    ConversionFactor.toProtobuf = toProtobuf;
+})(ConversionFactor = exports.ConversionFactor || (exports.ConversionFactor = {}));
+//# sourceMappingURL=conversion_factor.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"conversion_factor.js","sourceRoot":"","sources":["../../../src/ascii/conversion_factor.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;;;;;AAEtD,oDAAsC;AAwBtC,IAAiB,gBAAgB,CAehC;AAfD,WAAiB,gBAAgB;IAClB,uBAAM,GAAG,kBAAkB,CAAC;IAEzC,gBAAgB;IAChB,SAAgB,UAAU,CAAC,MAA2C;QACpE,MAAM,MAAM,GAAG,IAAI,OAAO,CAAC,gBAAgB,EAAE,CAAC;QAC9C,IAAI,MAAM,IAAI,IAAI,EAAE;YAClB,OAAO,MAAM,CAAC;SACf;QAED,MAAM,CAAC,UAAU,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC;QAClC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;QAC9B,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAC5B,OAAO,MAAM,CAAC;IAChB,CAAC;IAVe,2BAAU,aAUzB,CAAA;AACH,CAAC,EAfgB,gBAAgB,GAAhB,wBAAgB,KAAhB,wBAAgB,QAehC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { Units } from '../units';\n\n/**\n * Represents unit conversion factor for a single dimension.\n */\nexport interface ConversionFactor {\n  /**\n   * Setting representing the dimension.\n   */\n  setting: string;\n\n  /**\n   * Value representing 1 native device unit in specified real-word units.\n   */\n  value: number;\n\n  /**\n   * Units of the value.\n   */\n  unit: Units;\n\n}\n\nexport namespace ConversionFactor {\n  export const __type = 'ConversionFactor';\n\n  /** @internal */\n  export function toProtobuf(source: ConversionFactor | null | undefined): gateway.ConversionFactor {\n    const pbData = new gateway.ConversionFactor();\n    if (source == null) {\n      return pbData;\n    }\n\n    pbData.setSetting(source.setting);\n    pbData.setValue(source.value);\n    pbData.setUnit(source.unit);\n    return pbData;\n  }\n}\n"]}

package/dist/lib/ascii/device.js

@@ -206,7 +206,7 @@ class Device {
         request.setCheckErrors(checkErrors);
         request.setTimeout(timeout);
         const response = await gateway.callAsync('interface/generic_command_multi_response', request, gateway.GenericCommandResponseCollection);
-        return response.toObject().responsesList.map(resp => response_1.Response.fromProtobuf(resp));
+        return response.getResponsesList().map(a => response_1.Response.fromProtobuf(a.toObject()));
     }
     /**
      * Sends a generic ASCII command to this device without expecting a response and without adding a message ID
@@ -344,8 +344,8 @@ class Device {
         const request = new gateway.DeviceEmptyRequest();
         request.setInterfaceId(this.connection.interfaceId);
         request.setDevice(this.deviceAddress);
-        const response = gateway.callSync('device/get_identity', request, gateway.DeviceGetIdentityResponse);
-        return device_identity_1.DeviceIdentity.fromProtobuf(response.getIdentity().toObject());
+        const response = gateway.callSync('device/get_identity', request, gateway.DeviceIdentity);
+        return device_identity_1.DeviceIdentity.fromProtobuf(response.toObject());
     }
     /**
      * Returns whether or not the device have been identified.

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

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

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

@@ -32,5 +32,6 @@ export { ServoTuningParamset } from './servo_tuning_paramset';
 export { ParamsetInfo } from './paramset_info';
 export { PidTuning } from './pid_tuning';
 export { ServoTuningParam } from './servo_tuning_param';
-export { SimpleTuningParam } from './simple_tuning_param';
+export { SimpleTuningParamDefinition } from './simple_tuning_param_definition';
 export { AxisStorage, DeviceStorage } from './storage';
+export { ConversionFactor } from './conversion_factor';

package/dist/lib/ascii/index.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-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;
+exports.ConversionFactor = exports.DeviceStorage = exports.AxisStorage = exports.SimpleTuningParamDefinition = 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");
@@ -69,9 +69,11 @@ var pid_tuning_1 = require("./pid_tuning");
 Object.defineProperty(exports, "PidTuning", { enumerable: true, get: function () { return pid_tuning_1.PidTuning; } });
 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 simple_tuning_param_definition_1 = require("./simple_tuning_param_definition");
+Object.defineProperty(exports, "SimpleTuningParamDefinition", { enumerable: true, get: function () { return simple_tuning_param_definition_1.SimpleTuningParamDefinition; } });
 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; } });
+var conversion_factor_1 = require("./conversion_factor");
+Object.defineProperty(exports, "ConversionFactor", { enumerable: true, get: function () { return conversion_factor_1.ConversionFactor; } });
 //# 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,mFAA+E;AAAtE,6IAAA,2BAA2B,OAAA;AACpC,qCAAuD;AAA9C,sGAAA,WAAW,OAAA;AAAE,wGAAA,aAAa,OAAA;AACnC,yDAAuD;AAA9C,qHAAA,gBAAgB,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 { SimpleTuningParamDefinition } from './simple_tuning_param_definition';\nexport { AxisStorage, DeviceStorage } from './storage';\nexport { ConversionFactor } from './conversion_factor';\n"]}

package/dist/lib/ascii/lockstep.js

@@ -258,8 +258,8 @@ class Lockstep {
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
         request.setLockstepGroupId(this.lockstepGroupId);
-        const response = await gateway.callAsync('device/lockstep_get_axes', request, gateway.LockstepGetAxesResponse);
-        return lockstep_axes_1.LockstepAxes.fromProtobuf(response.getAxes().toObject());
+        const response = await gateway.callAsync('device/lockstep_get_axes', request, gateway.LockstepAxes);
+        return lockstep_axes_1.LockstepAxes.fromProtobuf(response.toObject());
     }
     /**
      * Gets the axis numbers of the lockstep group.

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

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

package/dist/lib/ascii/oscilloscope_data.js

@@ -122,8 +122,8 @@ class OscilloscopeData {
     _retrieveProperties() {
         const request = new gateway.OscilloscopeDataIdentifier();
         request.setDataId(this.dataId);
-        const response = gateway.callSync('oscilloscopedata/get_properties', request, gateway.OscilloscopeDataGetPropertiesResponse);
-        return oscilloscope_capture_properties_1.OscilloscopeCaptureProperties.fromProtobuf(response.getProperties().toObject());
+        const response = gateway.callSync('oscilloscopedata/get_properties', request, gateway.OscilloscopeCaptureProperties);
+        return oscilloscope_capture_properties_1.OscilloscopeCaptureProperties.fromProtobuf(response.toObject());
     }
     /**
      * Releases the native resources of the oscilloscope data.

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Native, Time, Units } from '../units';\nimport * as gateway from '../gateway';\nimport { registerForFinalization } from '../finalizer';\n\nimport { OscilloscopeCaptureProperties } from './oscilloscope_capture_properties';\n\n/**\n * Contains a block of contiguous recorded data for one channel of the device's oscilloscope.\n */\nexport class OscilloscopeData {\n  /**\n   * Unique ID for this block of recorded data.\n   */\n  public get dataId(): number {\n    return this._dataId;\n  }\n  private _dataId: number;\n\n  /**\n   * The name of the recorded setting.\n   */\n  public get setting(): string {\n    return this._retrieveProperties().setting;\n  }\n\n  /**\n   * The number of the axis the data was recorded from, or 0 for the controller.\n   */\n  public get axisNumber(): number {\n    return this._retrieveProperties().axisNumber;\n  }\n\n  constructor(dataId: number) {\n    this._dataId = dataId;\n    registerForFinalization(this, OscilloscopeData._free.bind(null, dataId));\n  }\n\n  /**\n   * Get the sample interval that this data was recorded with.\n   * @param unit Unit of measure to represent the timebase in.\n   * @return The timebase setting at the time the data was recorded.\n   */\n  public getTimebase(\n    unit: Time | Native = Units.NATIVE\n  ): number {\n    const request = new gateway.OscilloscopeDataGetRequest();\n    request.setDataId(this.dataId);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DoubleResponse>(\n      'oscilloscopedata/get_timebase',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Get the sample interval that this data was recorded with.\n   * @param unit Unit of measure to represent the delay in.\n   * @return The delay setting at the time the data was recorded.\n   */\n  public getDelay(\n    unit: Time | Native = Units.NATIVE\n  ): number {\n    const request = new gateway.OscilloscopeDataGetRequest();\n    request.setDataId(this.dataId);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DoubleResponse>(\n      'oscilloscopedata/get_delay',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Calculate the time a sample was recorded, relative to when the recording was triggered.\n   * @param index 0-based index of the sample to calculate the time of.\n   * @param unit Unit of measure to represent the calculated time in.\n   * @return The calculated time offset of the data sample at the given index.\n   */\n  public getSampleTime(\n    index: number,\n    unit: Time | Native = Units.NATIVE\n  ): number {\n    const request = new gateway.OscilloscopeDataGetSampleTimeRequest();\n    request.setDataId(this.dataId);\n    request.setIndex(index);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DoubleResponse>(\n      'oscilloscopedata/get_sample_time',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Get the recorded data as an array of doubles.\n   * @param unit Unit of measure to convert the data to.\n   * @return The recorded data for one oscilloscope channel, converted to the units specified.\n   */\n  public getData(\n    unit: Units = Units.NATIVE\n  ): number[] {\n    const request = new gateway.OscilloscopeDataGetRequest();\n    request.setDataId(this.dataId);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.OscilloscopeDataGetSamplesResponse>(\n      'oscilloscopedata/get_samples',\n      request,\n      gateway.OscilloscopeDataGetSamplesResponse);\n    return response.getDataList();\n  }\n\n  /**\n   * Releases native resources of an oscilloscope data buffer.\n   * @param dataId The ID of the data buffer to delete.\n   */\n  private static _free(\n    dataId: number\n  ): void {\n    const request = new gateway.OscilloscopeDataIdentifier();\n    request.setDataId(dataId);\n\n    gateway.callSync('oscilloscopedata/free', request);\n  }\n\n  /**\n   * Returns recording properties.\n   * @return Capture properties.\n   */\n  private _retrieveProperties(): OscilloscopeCaptureProperties {\n    const request = new gateway.OscilloscopeDataIdentifier();\n    request.setDataId(this.dataId);\n\n    const response = gateway.callSync<gateway.OscilloscopeDataGetPropertiesResponse>(\n      'oscilloscopedata/get_properties',\n      request,\n      gateway.OscilloscopeDataGetPropertiesResponse);\n    return OscilloscopeCaptureProperties.fromProtobuf(response.getProperties()!.toObject());\n  }\n\n  /**\n   * Releases the native resources of the oscilloscope data.\n   * Should only be called if your environment does not support FinalizationRegistry.\n   * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry\n   */\n  public free(): void {\n    OscilloscopeData._free(this.dataId);\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Native, Time, Units } from '../units';\nimport * as gateway from '../gateway';\nimport { registerForFinalization } from '../finalizer';\n\nimport { OscilloscopeCaptureProperties } from './oscilloscope_capture_properties';\n\n/**\n * Contains a block of contiguous recorded data for one channel of the device's oscilloscope.\n */\nexport class OscilloscopeData {\n  /**\n   * Unique ID for this block of recorded data.\n   */\n  public get dataId(): number {\n    return this._dataId;\n  }\n  private _dataId: number;\n\n  /**\n   * The name of the recorded setting.\n   */\n  public get setting(): string {\n    return this._retrieveProperties().setting;\n  }\n\n  /**\n   * The number of the axis the data was recorded from, or 0 for the controller.\n   */\n  public get axisNumber(): number {\n    return this._retrieveProperties().axisNumber;\n  }\n\n  constructor(dataId: number) {\n    this._dataId = dataId;\n    registerForFinalization(this, OscilloscopeData._free.bind(null, dataId));\n  }\n\n  /**\n   * Get the sample interval that this data was recorded with.\n   * @param unit Unit of measure to represent the timebase in.\n   * @return The timebase setting at the time the data was recorded.\n   */\n  public getTimebase(\n    unit: Time | Native = Units.NATIVE\n  ): number {\n    const request = new gateway.OscilloscopeDataGetRequest();\n    request.setDataId(this.dataId);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DoubleResponse>(\n      'oscilloscopedata/get_timebase',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Get the sample interval that this data was recorded with.\n   * @param unit Unit of measure to represent the delay in.\n   * @return The delay setting at the time the data was recorded.\n   */\n  public getDelay(\n    unit: Time | Native = Units.NATIVE\n  ): number {\n    const request = new gateway.OscilloscopeDataGetRequest();\n    request.setDataId(this.dataId);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DoubleResponse>(\n      'oscilloscopedata/get_delay',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Calculate the time a sample was recorded, relative to when the recording was triggered.\n   * @param index 0-based index of the sample to calculate the time of.\n   * @param unit Unit of measure to represent the calculated time in.\n   * @return The calculated time offset of the data sample at the given index.\n   */\n  public getSampleTime(\n    index: number,\n    unit: Time | Native = Units.NATIVE\n  ): number {\n    const request = new gateway.OscilloscopeDataGetSampleTimeRequest();\n    request.setDataId(this.dataId);\n    request.setIndex(index);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.DoubleResponse>(\n      'oscilloscopedata/get_sample_time',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Get the recorded data as an array of doubles.\n   * @param unit Unit of measure to convert the data to.\n   * @return The recorded data for one oscilloscope channel, converted to the units specified.\n   */\n  public getData(\n    unit: Units = Units.NATIVE\n  ): number[] {\n    const request = new gateway.OscilloscopeDataGetRequest();\n    request.setDataId(this.dataId);\n    request.setUnit(unit);\n\n    const response = gateway.callSync<gateway.OscilloscopeDataGetSamplesResponse>(\n      'oscilloscopedata/get_samples',\n      request,\n      gateway.OscilloscopeDataGetSamplesResponse);\n    return response.getDataList();\n  }\n\n  /**\n   * Releases native resources of an oscilloscope data buffer.\n   * @param dataId The ID of the data buffer to delete.\n   */\n  private static _free(\n    dataId: number\n  ): void {\n    const request = new gateway.OscilloscopeDataIdentifier();\n    request.setDataId(dataId);\n\n    gateway.callSync('oscilloscopedata/free', request);\n  }\n\n  /**\n   * Returns recording properties.\n   * @return Capture properties.\n   */\n  private _retrieveProperties(): OscilloscopeCaptureProperties {\n    const request = new gateway.OscilloscopeDataIdentifier();\n    request.setDataId(this.dataId);\n\n    const response = gateway.callSync<gateway.OscilloscopeCaptureProperties>(\n      'oscilloscopedata/get_properties',\n      request,\n      gateway.OscilloscopeCaptureProperties);\n    return OscilloscopeCaptureProperties.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Releases the native resources of the oscilloscope data.\n   * Should only be called if your environment does not support FinalizationRegistry.\n   * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry\n   */\n  public free(): void {\n    OscilloscopeData._free(this.dataId);\n  }\n}\n"]}

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

@@ -3,7 +3,7 @@ import { ServoTuningParamset } from './servo_tuning_paramset';
 import { ParamsetInfo } from './paramset_info';
 import { ServoTuningParam } from './servo_tuning_param';
 import { PidTuning } from './pid_tuning';
-import { SimpleTuningParam } from './simple_tuning_param';
+import { SimpleTuningParamDefinition } from './simple_tuning_param_definition';
 /**
  * Exposes the capabilities to inspect and edit an axis' servo tuning.
  */
@@ -63,7 +63,7 @@ export declare class ServoTuner {
      * Gets the parameters that are required to tune this device.
      * @return The tuning parameters.
      */
-    getSimpleTuningParamList(): Promise<SimpleTuningParam[]>;
+    getSimpleTuningParamDefinitions(): Promise<SimpleTuningParamDefinition[]>;
     /**
      * Set the tuning of this device using the simple input method.
      * @param paramset The paramset to set tuning for.

package/dist/lib/ascii/servo_tuner.js

@@ -30,7 +30,7 @@ const gateway = __importStar(require("../gateway"));
 const paramset_info_1 = require("./paramset_info");
 const servo_tuning_param_1 = require("./servo_tuning_param");
 const pid_tuning_1 = require("./pid_tuning");
-const simple_tuning_param_1 = require("./simple_tuning_param");
+const simple_tuning_param_definition_1 = require("./simple_tuning_param_definition");
 /**
  * Exposes the capabilities to inspect and edit an axis' servo tuning.
  */
@@ -151,13 +151,13 @@ class ServoTuner {
      * Gets the parameters that are required to tune this device.
      * @return The tuning parameters.
      */
-    async getSimpleTuningParamList() {
+    async getSimpleTuningParamDefinitions() {
         const request = new gateway.AxisEmptyRequest();
         request.setInterfaceId(this.axis.device.connection.interfaceId);
         request.setDevice(this.axis.device.deviceAddress);
         request.setAxis(this.axis.axisNumber);
-        const response = await gateway.callAsync('servotuning/get_simple_params', request, gateway.SimpleTuningParamList);
-        return response.toObject().paramsList.map(simple_tuning_param_1.SimpleTuningParam.fromProtobuf);
+        const response = await gateway.callAsync('servotuning/get_simple_params_definition', request, gateway.GetSimpleTuningParamDefinitionResponse);
+        return response.getParamsList().map(a => simple_tuning_param_definition_1.SimpleTuningParamDefinition.fromProtobuf(a.toObject()));
     }
     /**
      * Set the tuning of this device using the simple input method.

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Axis } from './axis';\nimport * as gateway from '../gateway';\nimport { ServoTuningParamset } from './servo_tuning_paramset';\nimport { ParamsetInfo } from './paramset_info';\nimport { ServoTuningParam } from './servo_tuning_param';\nimport { PidTuning } from './pid_tuning';\nimport { SimpleTuningParam } from './simple_tuning_param';\n\n/**\n * Exposes the capabilities to inspect and edit an axis' servo tuning.\n */\nexport class ServoTuner {\n  /**\n   * The axis that will be tuned.\n   */\n  public get axis(): Axis {\n    return this._axis;\n  }\n  private _axis: Axis;\n\n  constructor(axis: Axis) {\n    this._axis = axis;\n  }\n\n  /**\n   * Get the paramset that this device uses by default when it starts up.\n   * @return The paramset used at when the device restarts.\n   */\n  public async getStartupParamset(): Promise<ServoTuningParamset> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n\n    const response = await gateway.callAsync<gateway.IntResponse>(\n      'servotuning/get_startup_set',\n      request,\n      gateway.IntResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Set the paramset that this device uses by default when it starts up.\n   * @param paramset The paramset to use at startup.\n   */\n  public async setStartupParamset(\n    paramset: ServoTuningParamset\n  ): Promise<void> {\n    const request = new gateway.ServoTuningRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n\n    await gateway.callAsync('servotuning/set_startup_set', request);\n  }\n\n  /**\n   * Load the values from one paramset into another.\n   * @param toParamset The paramset to load into.\n   * @param fromParamset The paramset to load from.\n   */\n  public async loadParamset(\n    toParamset: ServoTuningParamset,\n    fromParamset: ServoTuningParamset\n  ): Promise<void> {\n    const request = new gateway.LoadParamset();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setToParamset(toParamset as any);\n    request.setFromParamset(fromParamset as any);\n\n    await gateway.callAsync('servotuning/load_paramset', request);\n  }\n\n  /**\n   * Get the full set of tuning parameters used by the firmware driving this axis.\n   * @param paramset The paramset to get tuning for.\n   * @return The raw representation of the current tuning.\n   */\n  public async getTuning(\n    paramset: ServoTuningParamset\n  ): Promise<ParamsetInfo> {\n    const request = new gateway.ServoTuningRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n\n    const response = await gateway.callAsync<gateway.ParamsetInfo>(\n      'servotuning/get_raw',\n      request,\n      gateway.ParamsetInfo);\n    return ParamsetInfo.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Set individual tuning parameters.\n   * Only use this method if you have a strong understanding of Zaber specific tuning parameters.\n   * @param paramset The paramset to set tuning of.\n   * @param tuningParams The params to set.\n   */\n  public async setTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[]\n  ): Promise<void> {\n    const request = new gateway.SetServoTuningRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n    request.setTuningParamsList(tuningParams.map(ServoTuningParam.toProtobuf));\n\n    await gateway.callAsync('servotuning/set_raw', request);\n  }\n\n  /**\n   * Sets the tuning of a paramset using the PID method.\n   * @param paramset The paramset to get tuning for.\n   * @param p The proportional gain. Must be in units of N/m.\n   * @param i The integral gain. Must be in units of N/m⋅s.\n   * @param d The derivative gain. Must be in units of N⋅s/m.\n   * @param fc The cutoff frequency. Must be in units of Hz.\n   * @return The PID representation of the current tuning after your changes have been applied.\n   */\n  public async setPidTuning(\n    paramset: ServoTuningParamset,\n    p: number,\n    i: number,\n    d: number,\n    fc: number\n  ): Promise<PidTuning> {\n    const request = new gateway.SetServoTuningPIDRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n    request.setP(p);\n    request.setI(i);\n    request.setD(d);\n    request.setFc(fc);\n\n    const response = await gateway.callAsync<gateway.PidTuning>(\n      'servotuning/set_pid',\n      request,\n      gateway.PidTuning);\n    return PidTuning.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Gets the PID representation of this paramset's servo tuning.\n   * @param paramset The paramset to get tuning for.\n   * @return The PID representation of the current tuning.\n   */\n  public async getPidTuning(\n    paramset: ServoTuningParamset\n  ): Promise<PidTuning> {\n    const request = new gateway.ServoTuningRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n\n    const response = await gateway.callAsync<gateway.PidTuning>(\n      'servotuning/get_pid',\n      request,\n      gateway.PidTuning);\n    return PidTuning.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Gets the parameters that are required to tune this device.\n   * @return The tuning parameters.\n   */\n  public async getSimpleTuningParamList(): Promise<SimpleTuningParam[]> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n\n    const response = await gateway.callAsync<gateway.SimpleTuningParamList>(\n      'servotuning/get_simple_params',\n      request,\n      gateway.SimpleTuningParamList);\n    return response.toObject().paramsList.map(SimpleTuningParam.fromProtobuf);\n  }\n\n  /**\n   * Set the tuning of this device using the simple input method.\n   * @param paramset The paramset to set tuning for.\n   * @param tuningParams The params used to tune this device.\n   * To get what parameters are expected, call GetSimpleTuningParamList.\n   * All values must be between 0 and 1.\n   * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.\n   * @param carriageMass The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n   */\n  public async setSimpleTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    loadMass: number,\n    carriageMass: number = -1.0\n  ): Promise<void> {\n    const request = new gateway.SetSimpleTuning();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n    request.setTuningParamsList(tuningParams.map(ServoTuningParam.toProtobuf));\n    request.setLoadMass(loadMass);\n    request.setCarriageMass(carriageMass);\n\n    await gateway.callAsync('servotuning/set_simple_tuning', request);\n  }\n\n  /**\n   * Checks if the provided simple tuning is being stored by this paramset.\n   * @param paramset The paramset to set tuning for.\n   * @param tuningParams The params used to tune this device.\n   * To get what parameters are expected, call GetSimpleTuningParamList.\n   * All values must be between 0 and 1.\n   * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.\n   * @param carriageMass The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n   * @return True if the provided simple tuning is currently stored in this paramset.\n   */\n  public async isUsingSimpleTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    loadMass: number,\n    carriageMass: number = -1.0\n  ): Promise<boolean> {\n    const request = new gateway.SetSimpleTuning();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n    request.setTuningParamsList(tuningParams.map(ServoTuningParam.toProtobuf));\n    request.setLoadMass(loadMass);\n    request.setCarriageMass(carriageMass);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'servotuning/is_using_simple_tuning',\n      request,\n      gateway.BoolResponse);\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 { Axis } from './axis';\nimport * as gateway from '../gateway';\nimport { ServoTuningParamset } from './servo_tuning_paramset';\nimport { ParamsetInfo } from './paramset_info';\nimport { ServoTuningParam } from './servo_tuning_param';\nimport { PidTuning } from './pid_tuning';\nimport { SimpleTuningParamDefinition } from './simple_tuning_param_definition';\n\n/**\n * Exposes the capabilities to inspect and edit an axis' servo tuning.\n */\nexport class ServoTuner {\n  /**\n   * The axis that will be tuned.\n   */\n  public get axis(): Axis {\n    return this._axis;\n  }\n  private _axis: Axis;\n\n  constructor(axis: Axis) {\n    this._axis = axis;\n  }\n\n  /**\n   * Get the paramset that this device uses by default when it starts up.\n   * @return The paramset used at when the device restarts.\n   */\n  public async getStartupParamset(): Promise<ServoTuningParamset> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n\n    const response = await gateway.callAsync<gateway.IntResponse>(\n      'servotuning/get_startup_set',\n      request,\n      gateway.IntResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Set the paramset that this device uses by default when it starts up.\n   * @param paramset The paramset to use at startup.\n   */\n  public async setStartupParamset(\n    paramset: ServoTuningParamset\n  ): Promise<void> {\n    const request = new gateway.ServoTuningRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n\n    await gateway.callAsync('servotuning/set_startup_set', request);\n  }\n\n  /**\n   * Load the values from one paramset into another.\n   * @param toParamset The paramset to load into.\n   * @param fromParamset The paramset to load from.\n   */\n  public async loadParamset(\n    toParamset: ServoTuningParamset,\n    fromParamset: ServoTuningParamset\n  ): Promise<void> {\n    const request = new gateway.LoadParamset();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setToParamset(toParamset as any);\n    request.setFromParamset(fromParamset as any);\n\n    await gateway.callAsync('servotuning/load_paramset', request);\n  }\n\n  /**\n   * Get the full set of tuning parameters used by the firmware driving this axis.\n   * @param paramset The paramset to get tuning for.\n   * @return The raw representation of the current tuning.\n   */\n  public async getTuning(\n    paramset: ServoTuningParamset\n  ): Promise<ParamsetInfo> {\n    const request = new gateway.ServoTuningRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n\n    const response = await gateway.callAsync<gateway.ParamsetInfo>(\n      'servotuning/get_raw',\n      request,\n      gateway.ParamsetInfo);\n    return ParamsetInfo.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Set individual tuning parameters.\n   * Only use this method if you have a strong understanding of Zaber specific tuning parameters.\n   * @param paramset The paramset to set tuning of.\n   * @param tuningParams The params to set.\n   */\n  public async setTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[]\n  ): Promise<void> {\n    const request = new gateway.SetServoTuningRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n    request.setTuningParamsList(tuningParams.map(ServoTuningParam.toProtobuf));\n\n    await gateway.callAsync('servotuning/set_raw', request);\n  }\n\n  /**\n   * Sets the tuning of a paramset using the PID method.\n   * @param paramset The paramset to get tuning for.\n   * @param p The proportional gain. Must be in units of N/m.\n   * @param i The integral gain. Must be in units of N/m⋅s.\n   * @param d The derivative gain. Must be in units of N⋅s/m.\n   * @param fc The cutoff frequency. Must be in units of Hz.\n   * @return The PID representation of the current tuning after your changes have been applied.\n   */\n  public async setPidTuning(\n    paramset: ServoTuningParamset,\n    p: number,\n    i: number,\n    d: number,\n    fc: number\n  ): Promise<PidTuning> {\n    const request = new gateway.SetServoTuningPIDRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n    request.setP(p);\n    request.setI(i);\n    request.setD(d);\n    request.setFc(fc);\n\n    const response = await gateway.callAsync<gateway.PidTuning>(\n      'servotuning/set_pid',\n      request,\n      gateway.PidTuning);\n    return PidTuning.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Gets the PID representation of this paramset's servo tuning.\n   * @param paramset The paramset to get tuning for.\n   * @return The PID representation of the current tuning.\n   */\n  public async getPidTuning(\n    paramset: ServoTuningParamset\n  ): Promise<PidTuning> {\n    const request = new gateway.ServoTuningRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n\n    const response = await gateway.callAsync<gateway.PidTuning>(\n      'servotuning/get_pid',\n      request,\n      gateway.PidTuning);\n    return PidTuning.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Gets the parameters that are required to tune this device.\n   * @return The tuning parameters.\n   */\n  public async getSimpleTuningParamDefinitions(): Promise<SimpleTuningParamDefinition[]> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n\n    const response = await gateway.callAsync<gateway.GetSimpleTuningParamDefinitionResponse>(\n      'servotuning/get_simple_params_definition',\n      request,\n      gateway.GetSimpleTuningParamDefinitionResponse);\n    return response.getParamsList().map(a => SimpleTuningParamDefinition.fromProtobuf(a.toObject()));\n  }\n\n  /**\n   * Set the tuning of this device using the simple input method.\n   * @param paramset The paramset to set tuning for.\n   * @param tuningParams The params used to tune this device.\n   * To get what parameters are expected, call GetSimpleTuningParamList.\n   * All values must be between 0 and 1.\n   * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.\n   * @param carriageMass The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n   */\n  public async setSimpleTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    loadMass: number,\n    carriageMass: number = -1.0\n  ): Promise<void> {\n    const request = new gateway.SetSimpleTuning();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n    request.setTuningParamsList(tuningParams.map(ServoTuningParam.toProtobuf));\n    request.setLoadMass(loadMass);\n    request.setCarriageMass(carriageMass);\n\n    await gateway.callAsync('servotuning/set_simple_tuning', request);\n  }\n\n  /**\n   * Checks if the provided simple tuning is being stored by this paramset.\n   * @param paramset The paramset to set tuning for.\n   * @param tuningParams The params used to tune this device.\n   * To get what parameters are expected, call GetSimpleTuningParamList.\n   * All values must be between 0 and 1.\n   * @param loadMass The mass loaded on the stage (excluding the mass of the carriage itself) in kg.\n   * @param carriageMass The mass of the carriage in kg. If this value is not set the default carriage mass is used.\n   * @return True if the provided simple tuning is currently stored in this paramset.\n   */\n  public async isUsingSimpleTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    loadMass: number,\n    carriageMass: number = -1.0\n  ): Promise<boolean> {\n    const request = new gateway.SetSimpleTuning();\n    request.setInterfaceId(this.axis.device.connection.interfaceId);\n    request.setDevice(this.axis.device.deviceAddress);\n    request.setAxis(this.axis.axisNumber);\n    request.setParamset(paramset as any);\n    request.setTuningParamsList(tuningParams.map(ServoTuningParam.toProtobuf));\n    request.setLoadMass(loadMass);\n    request.setCarriageMass(carriageMass);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'servotuning/is_using_simple_tuning',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n}\n"]}

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

@@ -796,6 +796,10 @@ export declare enum SettingConstants {
      * Maxspeed.
      */
     MAXSPEED = "maxspeed",
+    /**
+     * Mitutoyo Pos.
+     */
+    MITUTOYO_POS = "mitutoyo.pos",
     /**
      * Motion Accel Ramptime.
      */

package/dist/lib/ascii/setting_constants.js

@@ -802,6 +802,10 @@ var SettingConstants;
      * Maxspeed.
      */
     SettingConstants["MAXSPEED"] = "maxspeed";
+    /**
+     * Mitutoyo Pos.
+     */
+    SettingConstants["MITUTOYO_POS"] = "mitutoyo.pos";
     /**
      * Motion Accel Ramptime.
      */