@zaber/motion 2.15.3 → 3.0.0

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

@@ -4,6 +4,7 @@ import { LockstepAxes } from './lockstep_axes';
 /**
  * Represents a lockstep group with this ID on a device.
  * A lockstep group is a movement synchronized pair of axes on a device.
+ * Requires at least Firmware 6.15 or 7.11.
  */
 export declare class Lockstep {
     /**
@@ -28,124 +29,173 @@ export declare class Lockstep {
     disable(): Promise<void>;
     /**
      * Stops ongoing lockstep group 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.
      */
-    stop(waitUntilIdle?: boolean): Promise<void>;
+    stop(options?: Lockstep.StopOptions): Promise<void>;
     /**
      * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.
-     * @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.
      */
-    home(waitUntilIdle?: boolean): Promise<void>;
+    home(options?: Lockstep.HomeOptions): Promise<void>;
     /**
      * Move the first axis of the lockstep group to an absolute position.
      * The other axes in the lockstep group maintain their offsets throughout movement.
      * @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.
      */
-    moveAbsolute(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
+    moveAbsolute(position: number, unit?: Length | Angle | Native, options?: Lockstep.MoveAbsoluteOptions): Promise<void>;
     /**
      * Move the first axis of the lockstep group to a position relative to its current position.
      * The other axes in the lockstep group maintain their offsets throughout movement.
      * @param position Relative position.
-     * @param unit Units of position.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
-     * @param velocity Movement velocity.
+     * @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.
      */
-    moveRelative(position: number, unit?: Length | Angle | Native, waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
+    moveRelative(position: number, unit?: Length | Angle | Native, options?: Lockstep.MoveRelativeOptions): Promise<void>;
     /**
      * Moves the first axis of the lockstep group at the specified speed.
      * The other axes in the lockstep group maintain their offsets throughout movement.
      * @param velocity Movement velocity.
-     * @param unit Units of velocity.
-     * @param acceleration Movement acceleration.
+     * @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.
      */
-    moveVelocity(velocity: number, unit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
+    moveVelocity(velocity: number, unit?: Velocity | AngularVelocity | Native, options?: Lockstep.MoveVelocityOptions): Promise<void>;
     /**
      * Moves the axes to the maximum valid position.
      * The axes in the lockstep group maintain their offsets throughout movement.
      * Respects lim.max for all axes in the group.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
-     * @param velocity Movement velocity.
+     * @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.
      */
-    moveMax(waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
+    moveMax(options?: Lockstep.MoveMaxOptions): Promise<void>;
     /**
      * Moves the axes to the minimum valid position.
      * The axes in the lockstep group maintain their offsets throughout movement.
      * Respects lim.min for all axes in the group.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
-     * @param velocity Movement velocity.
+     * @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.
      */
-    moveMin(waitUntilIdle?: boolean, velocity?: number, velocityUnit?: Velocity | AngularVelocity | Native, acceleration?: number, accelerationUnit?: Acceleration | AngularAcceleration | Native): Promise<void>;
+    moveMin(options?: Lockstep.MoveMinOptions): Promise<void>;
     /**
      * Waits until the lockstep group 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.
      */
-    waitUntilIdle(throwErrorOnFault?: boolean): Promise<void>;
+    waitUntilIdle(options?: Lockstep.WaitUntilIdleOptions): Promise<void>;
     /**
      * Returns bool indicating whether the lockstep group is executing a motion command.
-     * @return True if the axes are currently executing a motion command.
+     * @returns True if the axes are currently executing a motion command.
      */
     isBusy(): Promise<boolean>;
     /**
      * @deprecated Use GetAxisNumbers instead.
      *
      * Gets the axes of the lockstep group.
-     * @return LockstepAxes instance which contains the axes numbers of the lockstep group.
+     * @returns LockstepAxes instance which contains the axes numbers of the lockstep group.
      */
     getAxes(): Promise<LockstepAxes>;
     /**
      * Gets the axis numbers of the lockstep group.
-     * @return Axis numbers in order specified when enabling lockstep.
+     * @returns Axis numbers in order specified when enabling lockstep.
      */
     getAxisNumbers(): Promise<number[]>;
     /**
      * Gets the initial offsets of secondary axes of an enabled lockstep group.
-     * @param unit Units of position.
-     * @return Initial offset for each axis of the lockstep group.
+     * @param [unit=Units.NATIVE] Units of position.
+     * @returns Initial offset for each axis of the lockstep group.
      */
     getOffsets(unit?: Length | Angle | Native): Promise<number[]>;
     /**
      * Gets the twists of secondary axes of an enabled lockstep group.
-     * @param unit Units of position.
-     * @return Difference between the initial offset and the actual offset for each axis of the lockstep group.
+     * @param [unit=Units.NATIVE] Units of position.
+     * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.
      */
     getTwists(unit?: Length | Angle | Native): Promise<number[]>;
     /**
      * Checks if the lockstep group is currently enabled on the device.
-     * @return True if a lockstep group with this ID is enabled on the device.
+     * @returns True if a lockstep group with this ID is enabled on the device.
      */
     isEnabled(): Promise<boolean>;
     /**
      * Returns a string which represents the enabled lockstep group.
-     * @return String which represents the enabled lockstep group.
+     * @returns String which represents the enabled lockstep group.
      */
     toString(): string;
 }
+declare namespace Lockstep {
+    interface StopOptions {
+        waitUntilIdle?: boolean;
+    }
+    interface HomeOptions {
+        waitUntilIdle?: boolean;
+    }
+    interface MoveAbsoluteOptions {
+        waitUntilIdle?: boolean;
+        velocity?: number;
+        velocityUnit?: Velocity | AngularVelocity | Native;
+        acceleration?: number;
+        accelerationUnit?: Acceleration | AngularAcceleration | Native;
+    }
+    interface MoveRelativeOptions {
+        waitUntilIdle?: boolean;
+        velocity?: number;
+        velocityUnit?: Velocity | AngularVelocity | Native;
+        acceleration?: number;
+        accelerationUnit?: Acceleration | AngularAcceleration | Native;
+    }
+    interface MoveVelocityOptions {
+        acceleration?: number;
+        accelerationUnit?: Acceleration | AngularAcceleration | Native;
+    }
+    interface MoveMaxOptions {
+        waitUntilIdle?: boolean;
+        velocity?: number;
+        velocityUnit?: Velocity | AngularVelocity | Native;
+        acceleration?: number;
+        accelerationUnit?: Acceleration | AngularAcceleration | Native;
+    }
+    interface MoveMinOptions {
+        waitUntilIdle?: boolean;
+        velocity?: number;
+        velocityUnit?: Velocity | AngularVelocity | Native;
+        acceleration?: number;
+        accelerationUnit?: Acceleration | AngularAcceleration | Native;
+    }
+    interface WaitUntilIdleOptions {
+        throwErrorOnFault?: boolean;
+    }
+}
+export {};

package/dist/lib/ascii/lockstep.js

@@ -32,6 +32,7 @@ const lockstep_axes_1 = require("./lockstep_axes");
 /**
  * Represents a lockstep group with this ID on a device.
  * A lockstep group is a movement synchronized pair of axes on a device.
+ * Requires at least Firmware 6.15 or 7.11.
  */
 class Lockstep {
     /**
@@ -74,9 +75,10 @@ class Lockstep {
     }
     /**
      * Stops ongoing lockstep group 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.LockstepStopRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -86,9 +88,10 @@ class Lockstep {
     }
     /**
      * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.
-     * @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.LockstepHomeRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -100,17 +103,19 @@ class Lockstep {
      * Move the first axis of the lockstep group to an absolute position.
      * The other axes in the lockstep group maintain their offsets throughout movement.
      * @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.LockstepMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -129,17 +134,19 @@ class Lockstep {
      * Move the first axis of the lockstep group to a position relative to its current position.
      * The other axes in the lockstep group maintain their offsets throughout movement.
      * @param position Relative position.
-     * @param unit Units of position.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
-     * @param velocity Movement velocity.
+     * @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.LockstepMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -158,12 +165,14 @@ class Lockstep {
      * Moves the first axis of the lockstep group at the specified speed.
      * The other axes in the lockstep group maintain their offsets throughout movement.
      * @param velocity Movement velocity.
-     * @param unit Units of velocity.
-     * @param acceleration Movement acceleration.
+     * @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.LockstepMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -179,16 +188,18 @@ class Lockstep {
      * Moves the axes to the maximum valid position.
      * The axes in the lockstep group maintain their offsets throughout movement.
      * Respects lim.max for all axes in the group.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
-     * @param velocity Movement velocity.
+     * @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.LockstepMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -205,16 +216,18 @@ class Lockstep {
      * Moves the axes to the minimum valid position.
      * The axes in the lockstep group maintain their offsets throughout movement.
      * Respects lim.min for all axes in the group.
-     * @param waitUntilIdle Determines whether function should return after the movement is finished or just started.
-     * @param velocity Movement velocity.
+     * @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.LockstepMoveRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -229,9 +242,10 @@ class Lockstep {
     }
     /**
      * Waits until the lockstep group 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.LockstepWaitUntilIdleRequest();
         request.setInterfaceId(this.device.connection.interfaceId);
         request.setDevice(this.device.deviceAddress);
@@ -241,7 +255,7 @@ class Lockstep {
     }
     /**
      * Returns bool indicating whether the lockstep group is executing a motion command.
-     * @return True if the axes are currently executing a motion command.
+     * @returns True if the axes are currently executing a motion command.
      */
     async isBusy() {
         const request = new gateway.LockstepEmptyRequest();
@@ -255,7 +269,7 @@ class Lockstep {
      * @deprecated Use GetAxisNumbers instead.
      *
      * Gets the axes of the lockstep group.
-     * @return LockstepAxes instance which contains the axes numbers of the lockstep group.
+     * @returns LockstepAxes instance which contains the axes numbers of the lockstep group.
      */
     async getAxes() {
         const request = new gateway.LockstepEmptyRequest();
@@ -267,7 +281,7 @@ class Lockstep {
     }
     /**
      * Gets the axis numbers of the lockstep group.
-     * @return Axis numbers in order specified when enabling lockstep.
+     * @returns Axis numbers in order specified when enabling lockstep.
      */
     async getAxisNumbers() {
         const request = new gateway.LockstepEmptyRequest();
@@ -279,8 +293,8 @@ class Lockstep {
     }
     /**
      * Gets the initial offsets of secondary axes of an enabled lockstep group.
-     * @param unit Units of position.
-     * @return Initial offset for each axis of the lockstep group.
+     * @param [unit=Units.NATIVE] Units of position.
+     * @returns Initial offset for each axis of the lockstep group.
      */
     async getOffsets(unit = units_1.Units.NATIVE) {
         const request = new gateway.LockstepGetOffsetsRequest();
@@ -293,8 +307,8 @@ class Lockstep {
     }
     /**
      * Gets the twists of secondary axes of an enabled lockstep group.
-     * @param unit Units of position.
-     * @return Difference between the initial offset and the actual offset for each axis of the lockstep group.
+     * @param [unit=Units.NATIVE] Units of position.
+     * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.
      */
     async getTwists(unit = units_1.Units.NATIVE) {
         const request = new gateway.LockstepGetTwistsRequest();
@@ -307,7 +321,7 @@ class Lockstep {
     }
     /**
      * Checks if the lockstep group is currently enabled on the device.
-     * @return True if a lockstep group with this ID is enabled on the device.
+     * @returns True if a lockstep group with this ID is enabled on the device.
      */
     async isEnabled() {
         const request = new gateway.LockstepEmptyRequest();
@@ -319,7 +333,7 @@ class Lockstep {
     }
     /**
      * Returns a string which represents the enabled lockstep group.
-     * @return String which represents the enabled lockstep group.
+     * @returns String which represents the enabled lockstep group.
      */
     toString() {
         const request = new gateway.LockstepEmptyRequest();

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   * 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.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   * 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.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   * 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.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   * 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.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"]}
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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 * Requires at least Firmware 6.15 or 7.11.\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 [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: Lockstep.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\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 [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: Lockstep.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\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.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: Lockstep.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.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.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: Lockstep.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.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.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: Lockstep.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\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 [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: Lockstep.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.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 [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: Lockstep.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.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 [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Lockstep.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\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   * @returns 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   * @returns 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   * @returns 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.NATIVE] Units of position.\n   * @returns 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.NATIVE] Units of position.\n   * @returns 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   * @returns 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   * @returns 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\nnamespace Lockstep {\n  export interface StopOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface HomeOptions {\n      waitUntilIdle?: 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 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 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 WaitUntilIdleOptions {\n      throwErrorOnFault?: boolean;\n  }\n}\n"]}