@zaber/motion 2.15.3 → 3.0.0

package/dist/lib/ascii/axis.js

@@ -59,6 +59,7 @@ class Axis {
     }
     /**
      * Key-value storage of this axis.
+     * Requires at least Firmware 7.30.
      */
     get storage() {
         return this._storage;
@@ -108,9 +109,10 @@ class Axis {
     }
     /**
      * Homes axis. Axis returns to its homing position.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
+     * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.
      */
-    async home(waitUntilIdle = true) {
+    async home(options = {}) {
+        const { waitUntilIdle = true, } = options;
         const request = new gateway.DeviceHomeRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -120,9 +122,10 @@ class Axis {
     }
     /**
      * Stops ongoing axis movement. Decelerates until zero speed.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
+     * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.
      */
-    async stop(waitUntilIdle = true) {
+    async stop(options = {}) {
+        const { waitUntilIdle = true, } = options;
         const request = new gateway.DeviceStopRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -153,7 +156,7 @@ class Axis {
     }
     /**
      * Returns bool indicating whether the axis is parked or not.
-     * @return True if the axis is currently parked. False otherwise.
+     * @returns True if the axis is currently parked. False otherwise.
      */
     async isParked() {
         const request = new gateway.AxisEmptyRequest();
@@ -165,9 +168,10 @@ class Axis {
     }
     /**
      * Waits until axis stops moving.
-     * @param throwErrorOnFault Determines whether to throw error when fault is observed.
+     * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.
      */
-    async waitUntilIdle(throwErrorOnFault = true) {
+    async waitUntilIdle(options = {}) {
+        const { throwErrorOnFault = true, } = options;
         const request = new gateway.DeviceWaitUntilIdleRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -177,7 +181,7 @@ class Axis {
     }
     /**
      * Returns bool indicating whether the axis is executing a motion command.
-     * @return True if the axis is currently executing a motion command.
+     * @returns True if the axis is currently executing a motion command.
      */
     async isBusy() {
         const request = new gateway.AxisEmptyRequest();
@@ -189,7 +193,7 @@ class Axis {
     }
     /**
      * Returns bool indicating whether the axis has position reference and was homed.
-     * @return True if the axis has position reference and was homed.
+     * @returns True if the axis has position reference and was homed.
      */
     async isHomed() {
         const request = new gateway.AxisEmptyRequest();
@@ -202,17 +206,19 @@ class Axis {
     /**
      * Move axis to absolute position.
      * @param position Absolute position.
-     * @param unit Units of position.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
-     * @param velocity Movement velocity.
+     * @param [unit=Units.NATIVE] Units of position.
+     * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.
+     * @param [options.velocity=0] Movement velocity.
      * Default value of 0 indicates that the maxspeed setting is used instead.
-     * @param velocityUnit Units of velocity.
-     * @param acceleration Movement acceleration.
+     * Requires at least Firmware 7.25.
+     * @param [options.velocityUnit=Units.NATIVE] Units of velocity.
+     * @param [options.acceleration=0] Movement acceleration.
      * Default value of 0 indicates that the accel setting is used instead.
-     * If you provide acceleration, you must provide velocity as well.
-     * @param accelerationUnit Units of acceleration.
+     * Requires at least Firmware 7.25.
+     * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.
      */
-    async moveAbsolute(position, unit = units_1.Units.NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
+    async moveAbsolute(position, unit = units_1.Units.NATIVE, options = {}) {
+        const { waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
         const request = new gateway.DeviceMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -229,16 +235,18 @@ class Axis {
     }
     /**
      * Moves the axis to the maximum position as specified by limit.max.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
-     * @param velocity Movement velocity.
+     * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.
+     * @param [options.velocity=0] Movement velocity.
      * Default value of 0 indicates that the maxspeed setting is used instead.
-     * @param velocityUnit Units of velocity.
-     * @param acceleration Movement acceleration.
+     * Requires at least Firmware 7.25.
+     * @param [options.velocityUnit=Units.NATIVE] Units of velocity.
+     * @param [options.acceleration=0] Movement acceleration.
      * Default value of 0 indicates that the accel setting is used instead.
-     * If you provide acceleration, you must provide velocity as well.
-     * @param accelerationUnit Units of acceleration.
+     * Requires at least Firmware 7.25.
+     * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.
      */
-    async moveMax(waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
+    async moveMax(options = {}) {
+        const { waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
         const request = new gateway.DeviceMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -253,16 +261,18 @@ class Axis {
     }
     /**
      * Moves the axis to the minimum position as specified by limit.min.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
-     * @param velocity Movement velocity.
+     * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.
+     * @param [options.velocity=0] Movement velocity.
      * Default value of 0 indicates that the maxspeed setting is used instead.
-     * @param velocityUnit Units of velocity.
-     * @param acceleration Movement acceleration.
+     * Requires at least Firmware 7.25.
+     * @param [options.velocityUnit=Units.NATIVE] Units of velocity.
+     * @param [options.acceleration=0] Movement acceleration.
      * Default value of 0 indicates that the accel setting is used instead.
-     * If you provide acceleration, you must provide velocity as well.
-     * @param accelerationUnit Units of acceleration.
+     * Requires at least Firmware 7.25.
+     * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.
      */
-    async moveMin(waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
+    async moveMin(options = {}) {
+        const { waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
         const request = new gateway.DeviceMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -278,17 +288,19 @@ class Axis {
     /**
      * Move axis to position relative to current position.
      * @param position Relative position.
-     * @param unit Units of position.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
-     * @param velocity Movement velocity.
+     * @param [unit=Units.NATIVE] Units of position.
+     * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.
+     * @param [options.velocity=0] Movement velocity.
      * Default value of 0 indicates that the maxspeed setting is used instead.
-     * @param velocityUnit Units of velocity.
-     * @param acceleration Movement acceleration.
+     * Requires at least Firmware 7.25.
+     * @param [options.velocityUnit=Units.NATIVE] Units of velocity.
+     * @param [options.acceleration=0] Movement acceleration.
      * Default value of 0 indicates that the accel setting is used instead.
-     * If you provide acceleration, you must provide velocity as well.
-     * @param accelerationUnit Units of acceleration.
+     * Requires at least Firmware 7.25.
+     * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.
      */
-    async moveRelative(position, unit = units_1.Units.NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
+    async moveRelative(position, unit = units_1.Units.NATIVE, options = {}) {
+        const { waitUntilIdle = true, velocity = 0, velocityUnit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
         const request = new gateway.DeviceMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -306,12 +318,14 @@ class Axis {
     /**
      * Begins to move axis at specified speed.
      * @param velocity Movement velocity.
-     * @param unit Units of velocity.
-     * @param acceleration Movement acceleration.
+     * @param [unit=Units.NATIVE] Units of velocity.
+     * @param [options.acceleration=0] Movement acceleration.
      * Default value of 0 indicates that the accel setting is used instead.
-     * @param accelerationUnit Units of acceleration.
+     * Requires at least Firmware 7.25.
+     * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.
      */
-    async moveVelocity(velocity, unit = units_1.Units.NATIVE, acceleration = 0, accelerationUnit = units_1.Units.NATIVE) {
+    async moveVelocity(velocity, unit = units_1.Units.NATIVE, options = {}) {
+        const { acceleration = 0, accelerationUnit = units_1.Units.NATIVE, } = options;
         const request = new gateway.DeviceMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -325,8 +339,8 @@ class Axis {
     }
     /**
      * Returns current axis position.
-     * @param unit Units of position.
-     * @return Axis position.
+     * @param [unit=Units.NATIVE] Units of position.
+     * @returns Axis position.
      */
     async getPosition(unit = units_1.Units.NATIVE) {
         const request = new gateway.DeviceGetSettingRequest();
@@ -342,12 +356,13 @@ class Axis {
      * Sends a generic ASCII command to this axis.
      * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
      * @param command Command and its parameters.
-     * @param checkErrors Controls whether to throw an exception when the device rejects the command.
-     * @param timeout The timeout, in milliseconds, for a device to respond to the command.
+     * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.
+     * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.
      * Overrides the connection default request timeout.
-     * @return A response to the command.
+     * @returns A response to the command.
      */
-    async genericCommand(command, checkErrors = true, timeout = 0) {
+    async genericCommand(command, options = {}) {
+        const { checkErrors = true, timeout = 0, } = options;
         const request = new gateway.GenericCommandRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -363,12 +378,13 @@ class Axis {
      * Responses are returned in order of arrival.
      * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
      * @param command Command and its parameters.
-     * @param checkErrors Controls whether to throw an exception when a device rejects the command.
-     * @param timeout The timeout, in milliseconds, for a device to respond to the command.
+     * @param [options.checkErrors=true] Controls whether to throw an exception when a device rejects the command.
+     * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.
      * Overrides the connection default request timeout.
-     * @return All responses to the command.
+     * @returns All responses to the command.
      */
-    async genericCommandMultiResponse(command, checkErrors = true, timeout = 0) {
+    async genericCommandMultiResponse(command, options = {}) {
+        const { checkErrors = true, timeout = 0, } = options;
         const request = new gateway.GenericCommandRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -399,7 +415,7 @@ class Axis {
      * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
      * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.
      * @param parameters Variable number of command parameters.
-     * @return Command with converted parameters.
+     * @returns Command with converted parameters.
      */
     prepareCommand(commandTemplate, ...parameters) {
         const request = new gateway.PrepareCommandRequest();
@@ -413,7 +429,7 @@ class Axis {
     }
     /**
      * Returns a string that represents the axis.
-     * @return A string that represents the axis.
+     * @returns A string that represents the axis.
      */
     toString() {
         const request = new gateway.AxisEmptyRequest();
@@ -425,7 +441,7 @@ class Axis {
     }
     /**
      * Returns a serialization of the current axis state that can be saved and reapplied.
-     * @return A serialization of the current state of the axis.
+     * @returns A serialization of the current state of the axis.
      */
     async getState() {
         const request = new gateway.AxisEmptyRequest();
@@ -452,7 +468,7 @@ class Axis {
      * This only covers exceptions that can be determined statically such as mismatches of ID or version,
      * the process of applying the state can still fail when running.
      * @param state The state object to check against.
-     * @return An explanation of why this state cannot be set to this axis.
+     * @returns An explanation of why this state cannot be set to this axis.
      */
     async canSetState(state) {
         const request = new gateway.CanSetStateRequest();
@@ -465,7 +481,7 @@ class Axis {
     }
     /**
      * Returns identity.
-     * @return Axis identity.
+     * @returns Axis identity.
      */
     _retrieveIdentity() {
         const request = new gateway.AxisEmptyRequest();

package/dist/lib/ascii/axis.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 { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\nimport { AxisStorage } from './storage';\n\n/**\n * Represents an axis of motion associated with a device.\n */\nexport class Axis {\n  /**\n   * Device that controls this axis.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The axis number identifies the axis on the device.\n   * The first axis has the number one.\n   */\n  public get axisNumber(): number {\n    return this._axisNumber;\n  }\n  private _axisNumber: number;\n\n  /**\n   * Settings and properties of this axis.\n   */\n  public get settings(): AxisSettings {\n    return this._settings;\n  }\n  private _settings: AxisSettings;\n\n  /**\n   * Key-value storage of this axis.\n   */\n  public get storage(): AxisStorage {\n    return this._storage;\n  }\n  private _storage: AxisStorage;\n\n  /**\n   * Warnings and faults of this axis.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the axis.\n   */\n  public get identity(): AxisIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  public get peripheralId(): number {\n    return this.identity.peripheralId;\n  }\n\n  /**\n   * Name of the peripheral.\n   */\n  public get peripheralName(): string {\n    return this.identity.peripheralName;\n  }\n\n  /**\n   * Indicates whether the axis is a peripheral or part of an integrated device.\n   */\n  public get isPeripheral(): boolean {\n    return this.identity.isPeripheral;\n  }\n\n  /**\n   * Determines the type of an axis and units it accepts.\n   */\n  public get axisType(): AxisType {\n    return this.identity.axisType;\n  }\n\n  constructor(device: Device, axisNumber: number) {\n    this._device = device;\n    this._axisNumber = axisNumber;\n    this._settings = new AxisSettings(this);\n    this._storage = new AxisStorage(this);\n    this._warnings = new Warnings(device, axisNumber);\n  }\n\n  /**\n   * Homes axis. Axis returns to its homing position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axis movement. Decelerates until zero speed.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    waitUntilIdle: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Parks the axis in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks axis. Axis will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @return True if the axis is currently parked. False otherwise.\n   */\n  public async isParked(): Promise<boolean> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/is_parked',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Waits until axis stops moving.\n   * @param throwErrorOnFault Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    throwErrorOnFault: boolean = true\n  ): Promise<void> {\n    const request = new gateway.DeviceWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is executing a motion command.\n   * @return True if the axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/is_busy',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns bool indicating whether the axis has position reference and was homed.\n   * @return True if the axis has position reference and was homed.\n   */\n  public async isHomed(): Promise<boolean> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/is_homed',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Move axis to absolute position.\n   * @param position Absolute position.\n   * @param unit Units of position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   * @param velocity Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * @param velocityUnit Units of velocity.\n   * @param acceleration Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * If you provide acceleration, you must provide velocity as well.\n   * @param accelerationUnit Units of acceleration.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    waitUntilIdle: boolean = true,\n    velocity: number = 0,\n    velocityUnit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    acceleration: number = 0,\n    accelerationUnit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.ABS);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the maximum position as specified by limit.max.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   * @param velocity Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * @param velocityUnit Units of velocity.\n   * @param acceleration Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * If you provide acceleration, you must provide velocity as well.\n   * @param accelerationUnit Units of acceleration.\n   */\n  public async moveMax(\n    waitUntilIdle: boolean = true,\n    velocity: number = 0,\n    velocityUnit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    acceleration: number = 0,\n    accelerationUnit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.MAX);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the minimum position as specified by limit.min.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   * @param velocity Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * @param velocityUnit Units of velocity.\n   * @param acceleration Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * If you provide acceleration, you must provide velocity as well.\n   * @param accelerationUnit Units of acceleration.\n   */\n  public async moveMin(\n    waitUntilIdle: boolean = true,\n    velocity: number = 0,\n    velocityUnit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    acceleration: number = 0,\n    accelerationUnit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.MIN);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Move axis to position relative to current position.\n   * @param position Relative position.\n   * @param unit Units of position.\n   * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.\n   * @param velocity Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * @param velocityUnit Units of velocity.\n   * @param acceleration Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * If you provide acceleration, you must provide velocity as well.\n   * @param accelerationUnit Units of acceleration.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    waitUntilIdle: boolean = true,\n    velocity: number = 0,\n    velocityUnit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    acceleration: number = 0,\n    accelerationUnit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.REL);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Begins to move axis at specified speed.\n   * @param velocity Movement velocity.\n   * @param unit Units of velocity.\n   * @param acceleration Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * @param accelerationUnit Units of acceleration.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    acceleration: number = 0,\n    accelerationUnit: Acceleration | AngularAcceleration | Native = Units.NATIVE\n  ): Promise<void> {\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Returns current axis position.\n   * @param unit Units of position.\n   * @return Axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setSetting('pos');\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/get_setting',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param checkErrors Controls whether to throw an exception when the device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n      'interface/generic_command',\n      request,\n      gateway.GenericCommandResponse);\n    return Response.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis and expect multiple responses.\n   * Responses are returned in order of arrival.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param checkErrors Controls whether to throw an exception when a device rejects the command.\n   * @param timeout The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @return All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    checkErrors: boolean = true,\n    timeout: number = 0\n  ): Promise<Response[]> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n      'interface/generic_command_multi_response',\n      request,\n      gateway.GenericCommandResponseCollection);\n    return response.getResponsesList().map(a => Response.fromProtobuf(a.toObject()));\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis without expecting a response and without adding a message ID\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   */\n  public async genericCommandNoResponse(\n    command: string\n  ): Promise<void> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Formats parameters into a command and performs unit conversions.\n   * Parameters in the command template are denoted by a question mark.\n   * Command returned is only valid for this axis and this device.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n   * @param parameters Variable number of command parameters.\n   * @return Command with converted parameters.\n   */\n  public prepareCommand(\n    commandTemplate: string,\n    ...parameters: Measurement[]\n  ): string {\n    const request = new gateway.PrepareCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommandTemplate(commandTemplate);\n    request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/prepare_command',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string that represents the axis.\n   * @return A string that represents the axis.\n   */\n  public toString(): string {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/axis_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a serialization of the current axis state that can be saved and reapplied.\n   * @return A serialization of the current state of the axis.\n   */\n  public async getState(): Promise<string> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.StringResponse>(\n      'device/get_state',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Applies a saved state to an axis.\n   * @param state The state object to apply to this axis.\n   */\n  public async setState(\n    state: string\n  ): Promise<void> {\n    const request = new gateway.SetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setState(state);\n\n    await gateway.callAsync('device/set_state', request);\n  }\n\n  /**\n   * Checks if a state can be applied to this axis.\n   * This only covers exceptions that can be determined statically such as mismatches of ID or version,\n   * the process of applying the state can still fail when running.\n   * @param state The state object to check against.\n   * @return An explanation of why this state cannot be set to this axis.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<string> {\n    const request = new gateway.CanSetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setState(state);\n\n    const response = await gateway.callAsync<gateway.CanSetStateAxisResponse>(\n      'device/can_set_axis_state',\n      request,\n      gateway.CanSetStateAxisResponse);\n    return response.getError();\n  }\n\n  /**\n   * Returns identity.\n   * @return Axis identity.\n   */\n  private _retrieveIdentity(): AxisIdentity {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.AxisIdentity>(\n      'device/get_axis_identity',\n      request,\n      gateway.AxisIdentity);\n    return AxisIdentity.fromProtobuf(response.toObject());\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\nimport { AxisStorage } from './storage';\n\n/**\n * Represents an axis of motion associated with a device.\n */\nexport class Axis {\n  /**\n   * Device that controls this axis.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The axis number identifies the axis on the device.\n   * The first axis has the number one.\n   */\n  public get axisNumber(): number {\n    return this._axisNumber;\n  }\n  private _axisNumber: number;\n\n  /**\n   * Settings and properties of this axis.\n   */\n  public get settings(): AxisSettings {\n    return this._settings;\n  }\n  private _settings: AxisSettings;\n\n  /**\n   * Key-value storage of this axis.\n   * Requires at least Firmware 7.30.\n   */\n  public get storage(): AxisStorage {\n    return this._storage;\n  }\n  private _storage: AxisStorage;\n\n  /**\n   * Warnings and faults of this axis.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the axis.\n   */\n  public get identity(): AxisIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  public get peripheralId(): number {\n    return this.identity.peripheralId;\n  }\n\n  /**\n   * Name of the peripheral.\n   */\n  public get peripheralName(): string {\n    return this.identity.peripheralName;\n  }\n\n  /**\n   * Indicates whether the axis is a peripheral or part of an integrated device.\n   */\n  public get isPeripheral(): boolean {\n    return this.identity.isPeripheral;\n  }\n\n  /**\n   * Determines the type of an axis and units it accepts.\n   */\n  public get axisType(): AxisType {\n    return this.identity.axisType;\n  }\n\n  constructor(device: Device, axisNumber: number) {\n    this._device = device;\n    this._axisNumber = axisNumber;\n    this._settings = new AxisSettings(this);\n    this._storage = new AxisStorage(this);\n    this._warnings = new Warnings(device, axisNumber);\n  }\n\n  /**\n   * Homes axis. Axis returns to its homing position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: Axis.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request = new gateway.DeviceHomeRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axis movement. Decelerates until zero speed.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: Axis.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request = new gateway.DeviceStopRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setWaitUntilIdle(waitUntilIdle);\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Parks the axis in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks axis. Axis will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @returns True if the axis is currently parked. False otherwise.\n   */\n  public async isParked(): Promise<boolean> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/is_parked',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Waits until axis stops moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Axis.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request = new gateway.DeviceWaitUntilIdleRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setThrowErrorOnFault(throwErrorOnFault);\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is executing a motion command.\n   * @returns True if the axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/is_busy',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns bool indicating whether the axis has position reference and was homed.\n   * @returns True if the axis has position reference and was homed.\n   */\n  public async isHomed(): Promise<boolean> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.BoolResponse>(\n      'device/is_homed',\n      request,\n      gateway.BoolResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Move axis to absolute position.\n   * @param position Absolute position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Axis.MoveAbsoluteOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.ABS);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the maximum position as specified by limit.max.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMax(\n    options: Axis.MoveMaxOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.MAX);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the minimum position as specified by limit.min.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMin(\n    options: Axis.MoveMinOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.MIN);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Move axis to position relative to current position.\n   * @param position Relative position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Axis.MoveRelativeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.REL);\n    request.setArg(position);\n    request.setUnit(unit);\n    request.setWaitUntilIdle(waitUntilIdle);\n    request.setVelocity(velocity);\n    request.setVelocityUnit(velocityUnit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Begins to move axis at specified speed.\n   * @param velocity Movement velocity.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    options: Axis.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request = new gateway.DeviceMoveRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setType(gateway.DeviceMoveRequest.MoveType.VEL);\n    request.setArg(velocity);\n    request.setUnit(unit);\n    request.setAcceleration(acceleration);\n    request.setAccelerationUnit(accelerationUnit);\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Returns current axis position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @returns Axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request = new gateway.DeviceGetSettingRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setSetting('pos');\n    request.setUnit(unit);\n\n    const response = await gateway.callAsync<gateway.DoubleResponse>(\n      'device/get_setting',\n      request,\n      gateway.DoubleResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n   * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @returns A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    options: Axis.GenericCommandOptions = {}\n  ): Promise<Response> {\n    const {\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponse>(\n      'interface/generic_command',\n      request,\n      gateway.GenericCommandResponse);\n    return Response.fromProtobuf(response.toObject());\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis and expect multiple responses.\n   * Responses are returned in order of arrival.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when a device rejects the command.\n   * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @returns All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    options: Axis.GenericCommandMultiResponseOptions = {}\n  ): Promise<Response[]> {\n    const {\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n    request.setCheckErrors(checkErrors);\n    request.setTimeout(timeout);\n\n    const response = await gateway.callAsync<gateway.GenericCommandResponseCollection>(\n      'interface/generic_command_multi_response',\n      request,\n      gateway.GenericCommandResponseCollection);\n    return response.getResponsesList().map(a => Response.fromProtobuf(a.toObject()));\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis without expecting a response and without adding a message ID\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   */\n  public async genericCommandNoResponse(\n    command: string\n  ): Promise<void> {\n    const request = new gateway.GenericCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommand(command);\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Formats parameters into a command and performs unit conversions.\n   * Parameters in the command template are denoted by a question mark.\n   * Command returned is only valid for this axis and this device.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n   * @param parameters Variable number of command parameters.\n   * @returns Command with converted parameters.\n   */\n  public prepareCommand(\n    commandTemplate: string,\n    ...parameters: Measurement[]\n  ): string {\n    const request = new gateway.PrepareCommandRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setCommandTemplate(commandTemplate);\n    request.setParametersList(parameters.map(Measurement.toProtobuf));\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/prepare_command',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a string that represents the axis.\n   * @returns A string that represents the axis.\n   */\n  public toString(): string {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.StringResponse>(\n      'device/axis_to_string',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Returns a serialization of the current axis state that can be saved and reapplied.\n   * @returns A serialization of the current state of the axis.\n   */\n  public async getState(): Promise<string> {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = await gateway.callAsync<gateway.StringResponse>(\n      'device/get_state',\n      request,\n      gateway.StringResponse);\n    return response.getValue();\n  }\n\n  /**\n   * Applies a saved state to an axis.\n   * @param state The state object to apply to this axis.\n   */\n  public async setState(\n    state: string\n  ): Promise<void> {\n    const request = new gateway.SetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setState(state);\n\n    await gateway.callAsync('device/set_state', request);\n  }\n\n  /**\n   * Checks if a state can be applied to this axis.\n   * This only covers exceptions that can be determined statically such as mismatches of ID or version,\n   * the process of applying the state can still fail when running.\n   * @param state The state object to check against.\n   * @returns An explanation of why this state cannot be set to this axis.\n   */\n  public async canSetState(\n    state: string\n  ): Promise<string> {\n    const request = new gateway.CanSetStateRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n    request.setState(state);\n\n    const response = await gateway.callAsync<gateway.CanSetStateAxisResponse>(\n      'device/can_set_axis_state',\n      request,\n      gateway.CanSetStateAxisResponse);\n    return response.getError();\n  }\n\n  /**\n   * Returns identity.\n   * @returns Axis identity.\n   */\n  private _retrieveIdentity(): AxisIdentity {\n    const request = new gateway.AxisEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n    request.setAxis(this.axisNumber);\n\n    const response = gateway.callSync<gateway.AxisIdentity>(\n      'device/get_axis_identity',\n      request,\n      gateway.AxisIdentity);\n    return AxisIdentity.fromProtobuf(response.toObject());\n  }\n}\n\nnamespace Axis {\n  export interface HomeOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface StopOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface WaitUntilIdleOptions {\n      throwErrorOnFault?: boolean;\n  }\n  export interface MoveAbsoluteOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMaxOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMinOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveRelativeOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveVelocityOptions {\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface GenericCommandOptions {\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      checkErrors?: boolean;\n      timeout?: number;\n  }\n}\n"]}

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

@@ -11,8 +11,8 @@ export declare class AxisSettings {
      * Returns any axis setting or property.
      * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
      * @param setting Name of the setting.
-     * @param unit Units of setting.
-     * @return Setting value.
+     * @param [unit=Units.NATIVE] Units of setting.
+     * @returns Setting value.
      */
     get(setting: string, unit?: Units): Promise<number>;
     /**
@@ -20,14 +20,14 @@ export declare class AxisSettings {
      * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
      * @param setting Name of the setting.
      * @param value Value of the setting.
-     * @param unit Units of setting.
+     * @param [unit=Units.NATIVE] Units of setting.
      */
     set(setting: string, value: number, unit?: Units): Promise<void>;
     /**
      * Returns any axis setting or property as a string.
      * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
      * @param setting Name of the setting.
-     * @return Setting value.
+     * @returns Setting value.
      */
     getString(setting: string): Promise<string>;
     /**
@@ -42,7 +42,7 @@ export declare class AxisSettings {
      * @param setting Name of the setting.
      * @param value Value of the setting in units specified by following argument.
      * @param unit Units of the value.
-     * @return Setting value.
+     * @returns Setting value.
      */
     convertToNativeUnits(setting: string, value: number, unit: Units): number;
     /**
@@ -50,31 +50,32 @@ export declare class AxisSettings {
      * @param setting Name of the setting.
      * @param value Value of the setting in Zaber native units.
      * @param unit Units to convert value to.
-     * @return Setting value.
+     * @returns Setting value.
      */
     convertFromNativeUnits(setting: string, value: number, unit: Units): number;
     /**
      * Returns the default value of a setting.
      * @param setting Name of the setting.
-     * @param unit Units of setting.
-     * @return Default setting value.
+     * @param [unit=Units.NATIVE] Units of setting.
+     * @returns Default setting value.
      */
     getDefault(setting: string, unit?: Units): number;
     /**
      * Returns the default value of a setting as a string.
      * @param setting Name of the setting.
-     * @return Default setting value.
+     * @returns Default setting value.
      */
     getDefaultString(setting: string): string;
     /**
      * Indicates if given setting can be converted from and to native units.
      * @param setting Name of the setting.
-     * @return True if unit conversion can be performed.
+     * @returns True if unit conversion can be performed.
      */
     canConvertNativeUnits(setting: string): boolean;
     /**
      * Overrides default unit conversions.
      * Conversion factors are specified by setting names representing underlying dimensions.
+     * Requires at least Firmware 7.30.
      * @param conversions Factors of all conversions to override.
      */
     setCustomUnitConversions(conversions: ConversionFactor[]): Promise<void>;

package/dist/lib/ascii/axis_settings.js

@@ -40,8 +40,8 @@ class AxisSettings {
      * Returns any axis setting or property.
      * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
      * @param setting Name of the setting.
-     * @param unit Units of setting.
-     * @return Setting value.
+     * @param [unit=Units.NATIVE] Units of setting.
+     * @returns Setting value.
      */
     async get(setting, unit = units_1.Units.NATIVE) {
         const request = new gateway.DeviceGetSettingRequest();
@@ -58,7 +58,7 @@ class AxisSettings {
      * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
      * @param setting Name of the setting.
      * @param value Value of the setting.
-     * @param unit Units of setting.
+     * @param [unit=Units.NATIVE] Units of setting.
      */
     async set(setting, value, unit = units_1.Units.NATIVE) {
         const request = new gateway.DeviceSetSettingRequest();
@@ -74,7 +74,7 @@ class AxisSettings {
      * Returns any axis setting or property as a string.
      * For more information refer to the [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_settings).
      * @param setting Name of the setting.
-     * @return Setting value.
+     * @returns Setting value.
      */
     async getString(setting) {
         const request = new gateway.DeviceGetSettingRequest();
@@ -105,7 +105,7 @@ class AxisSettings {
      * @param setting Name of the setting.
      * @param value Value of the setting in units specified by following argument.
      * @param unit Units of the value.
-     * @return Setting value.
+     * @returns Setting value.
      */
     convertToNativeUnits(setting, value, unit) {
         const request = new gateway.DeviceConvertSettingRequest();
@@ -123,7 +123,7 @@ class AxisSettings {
      * @param setting Name of the setting.
      * @param value Value of the setting in Zaber native units.
      * @param unit Units to convert value to.
-     * @return Setting value.
+     * @returns Setting value.
      */
     convertFromNativeUnits(setting, value, unit) {
         const request = new gateway.DeviceConvertSettingRequest();
@@ -140,8 +140,8 @@ class AxisSettings {
     /**
      * Returns the default value of a setting.
      * @param setting Name of the setting.
-     * @param unit Units of setting.
-     * @return Default setting value.
+     * @param [unit=Units.NATIVE] Units of setting.
+     * @returns Default setting value.
      */
     getDefault(setting, unit = units_1.Units.NATIVE) {
         const request = new gateway.DeviceGetSettingRequest();
@@ -156,7 +156,7 @@ class AxisSettings {
     /**
      * Returns the default value of a setting as a string.
      * @param setting Name of the setting.
-     * @return Default setting value.
+     * @returns Default setting value.
      */
     getDefaultString(setting) {
         const request = new gateway.DeviceGetSettingRequest();
@@ -170,7 +170,7 @@ class AxisSettings {
     /**
      * Indicates if given setting can be converted from and to native units.
      * @param setting Name of the setting.
-     * @return True if unit conversion can be performed.
+     * @returns True if unit conversion can be performed.
      */
     canConvertNativeUnits(setting) {
         const request = new gateway.DeviceGetSettingRequest();
@@ -184,6 +184,7 @@ class AxisSettings {
     /**
      * Overrides default unit conversions.
      * Conversion factors are specified by setting names representing underlying dimensions.
+     * Requires at least Firmware 7.30.
      * @param conversions Factors of all conversions to override.
      */
     async setCustomUnitConversions(conversions) {