@zaber/motion 4.0.0 → 4.2.1

package/dist/lib/ascii/process_controller.js

@@ -0,0 +1,89 @@
+"use strict";
+// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
+// ============= DO NOT EDIT DIRECTLY ============= //
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
+    Object.defineProperty(o, "default", { enumerable: true, value: v });
+}) : function(o, v) {
+    o["default"] = v;
+});
+var __importStar = (this && this.__importStar) || function (mod) {
+    if (mod && mod.__esModule) return mod;
+    var result = {};
+    if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
+    __setModuleDefault(result, mod);
+    return result;
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.ProcessController = void 0;
+const gateway = __importStar(require("../gateway"));
+const process_1 = require("./process");
+/**
+ * Use to manage a process controller.
+ * WARNING: DO NOT USE. This API is for an as-yet unreleased product and firmware version.
+ * It is subject to breaking changes without warning until further notice.
+ * Requires at least Firmware 7.34.
+ */
+class ProcessController {
+    /**
+     * The base device of this process controller.
+     */
+    get device() {
+        return this._device;
+    }
+    /**
+     * Creates instance of `ProcessController` of the given device.
+     * If the device is identified, this constructor will ensure it is a process controller.
+     */
+    constructor(device) {
+        this._device = device;
+        this._verifyIsProcessController();
+    }
+    /**
+     * Detects the process controllers on the connection.
+     * @param connection The connection to detect process controllers on.
+     * @param [identify=true] If the Process Controllers should be identified upon detection.
+     * @returns A list of all `ProcessController`s on the connection.
+     */
+    static async detect(connection, identify = true) {
+        const request = new gateway.DeviceDetectRequest();
+        request.setType(gateway.DeviceDetectRequest.DeviceType.PROCESS_CONTROLLER);
+        request.setInterfaceId(connection.interfaceId);
+        request.setIdentifyDevices(identify);
+        const response = await gateway.callAsync('device/detect', request, gateway.DeviceDetectResponse);
+        return response.getDevicesList().map(deviceAddress => new ProcessController(connection.getDevice(deviceAddress)));
+    }
+    /**
+     * Gets an Process class instance which allows you to control a particular voltage source.
+     * Axes are numbered from 1.
+     * @param processNumber Number of process to control.
+     * @returns Process instance.
+     */
+    getProcess(processNumber) {
+        if (processNumber <= 0) {
+            throw new TypeError('Invalid value; processes are numbered from 1.');
+        }
+        return new process_1.Process(this, processNumber);
+    }
+    /**
+     * Checks if this is a process controller or some other type of device and throws a detect error if it is not.
+     */
+    _verifyIsProcessController() {
+        const request = new gateway.DeviceEmptyRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        gateway.callSync('process_controller/verify', request);
+    }
+}
+exports.ProcessController = ProcessController;
+//# sourceMappingURL=process_controller.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"process_controller.js","sourceRoot":"","sources":["../../../src/ascii/process_controller.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;;;;;AAItD,oDAAsC;AACtC,uCAAoC;AAEpC;;;;;GAKG;AACH,MAAa,iBAAiB;IAC5B;;OAEG;IACH,IAAW,MAAM;QACf,OAAO,IAAI,CAAC,OAAO,CAAC;IACtB,CAAC;IAGD;;;OAGG;IACH,YAAY,MAAc;QACxB,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;QACtB,IAAI,CAAC,0BAA0B,EAAE,CAAC;IACpC,CAAC;IAED;;;;;OAKG;IACI,MAAM,CAAC,KAAK,CAAC,MAAM,CACxB,UAAsB,EACtB,WAAoB,IAAI;QAExB,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,mBAAmB,EAAE,CAAC;QAClD,OAAO,CAAC,OAAO,CAAC,OAAO,CAAC,mBAAmB,CAAC,UAAU,CAAC,kBAAkB,CAAC,CAAC;QAC3E,OAAO,CAAC,cAAc,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC/C,OAAO,CAAC,kBAAkB,CAAC,QAAQ,CAAC,CAAC;QAErC,MAAM,QAAQ,GAAG,MAAM,OAAO,CAAC,SAAS,CACtC,eAAe,EACf,OAAO,EACP,OAAO,CAAC,oBAAoB,CAAC,CAAC;QAChC,OAAO,QAAQ,CAAC,cAAc,EAAE,CAAC,GAAG,CAAC,aAAa,CAAC,EAAE,CAAC,IAAI,iBAAiB,CAAC,UAAU,CAAC,SAAS,CAAC,aAAa,CAAC,CAAC,CAAC,CAAC;IACpH,CAAC;IAED;;;;;OAKG;IACI,UAAU,CACf,aAAqB;QAErB,IAAI,aAAa,IAAI,CAAC,EAAE;YACtB,MAAM,IAAI,SAAS,CAAC,+CAA+C,CAAC,CAAC;SACtE;QACD,OAAO,IAAI,iBAAO,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC;IAC1C,CAAC;IAED;;OAEG;IACK,0BAA0B;QAChC,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;QACjD,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,CAAC;QAE7C,OAAO,CAAC,QAAQ,CAAC,2BAA2B,EAAE,OAAO,CAAC,CAAC;IACzD,CAAC;CACF;AAjED,8CAiEC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Connection } from './connection';\nimport { Device } from './device';\nimport * as gateway from '../gateway';\nimport { Process } from './process';\n\n/**\n * Use to manage a process controller.\n * WARNING: DO NOT USE. This API is for an as-yet unreleased product and firmware version.\n * It is subject to breaking changes without warning until further notice.\n * Requires at least Firmware 7.34.\n */\nexport class ProcessController {\n  /**\n   * The base device of this process controller.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * Creates instance of `ProcessController` of the given device.\n   * If the device is identified, this constructor will ensure it is a process controller.\n   */\n  constructor(device: Device) {\n    this._device = device;\n    this._verifyIsProcessController();\n  }\n\n  /**\n   * Detects the process controllers on the connection.\n   * @param connection The connection to detect process controllers on.\n   * @param [identify=true] If the Process Controllers should be identified upon detection.\n   * @returns A list of all `ProcessController`s on the connection.\n   */\n  public static async detect(\n    connection: Connection,\n    identify: boolean = true\n  ): Promise<ProcessController[]> {\n    const request = new gateway.DeviceDetectRequest();\n    request.setType(gateway.DeviceDetectRequest.DeviceType.PROCESS_CONTROLLER);\n    request.setInterfaceId(connection.interfaceId);\n    request.setIdentifyDevices(identify);\n\n    const response = await gateway.callAsync<gateway.DeviceDetectResponse>(\n      'device/detect',\n      request,\n      gateway.DeviceDetectResponse);\n    return response.getDevicesList().map(deviceAddress => new ProcessController(connection.getDevice(deviceAddress)));\n  }\n\n  /**\n   * Gets an Process class instance which allows you to control a particular voltage source.\n   * Axes are numbered from 1.\n   * @param processNumber Number of process to control.\n   * @returns Process instance.\n   */\n  public getProcess(\n    processNumber: number\n  ): Process {\n    if (processNumber <= 0) {\n      throw new TypeError('Invalid value; processes are numbered from 1.');\n    }\n    return new Process(this, processNumber);\n  }\n\n  /**\n   * Checks if this is a process controller or some other type of device and throws a detect error if it is not.\n   */\n  private _verifyIsProcessController(): void {\n    const request = new gateway.DeviceEmptyRequest();\n    request.setInterfaceId(this.device.connection.interfaceId);\n    request.setDevice(this.device.deviceAddress);\n\n    gateway.callSync('process_controller/verify', request);\n  }\n}\n\nnamespace ProcessController {\n}\n"]}

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

@@ -0,0 +1,9 @@
+/**
+ * Servo Tuning Parameter Set to target.
+ */
+export declare enum ProcessControllerMode {
+    MANUAL = 0,
+    PID = 1,
+    PID_HEATER = 2,
+    ON_OFF = 3
+}

package/dist/lib/ascii/process_controller_mode.js

@@ -0,0 +1,16 @@
+"use strict";
+// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
+// ============= DO NOT EDIT DIRECTLY ============= //
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.ProcessControllerMode = void 0;
+/**
+ * Servo Tuning Parameter Set to target.
+ */
+var ProcessControllerMode;
+(function (ProcessControllerMode) {
+    ProcessControllerMode[ProcessControllerMode["MANUAL"] = 0] = "MANUAL";
+    ProcessControllerMode[ProcessControllerMode["PID"] = 1] = "PID";
+    ProcessControllerMode[ProcessControllerMode["PID_HEATER"] = 2] = "PID_HEATER";
+    ProcessControllerMode[ProcessControllerMode["ON_OFF"] = 3] = "ON_OFF";
+})(ProcessControllerMode = exports.ProcessControllerMode || (exports.ProcessControllerMode = {}));
+//# sourceMappingURL=process_controller_mode.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"process_controller_mode.js","sourceRoot":"","sources":["../../../src/ascii/process_controller_mode.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAEtD;;GAEG;AACH,IAAY,qBAKX;AALD,WAAY,qBAAqB;IAC/B,qEAAU,CAAA;IACV,+DAAO,CAAA;IACP,6EAAc,CAAA;IACd,qEAAU,CAAA;AACZ,CAAC,EALW,qBAAqB,GAArB,6BAAqB,KAArB,6BAAqB,QAKhC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\n/**\n * Servo Tuning Parameter Set to target.\n */\nexport enum ProcessControllerMode {\n  MANUAL = 0,\n  PID = 1,\n  PID_HEATER = 2,\n  ON_OFF = 3,\n}\n"]}

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

@@ -0,0 +1,17 @@
+import { ProcessControllerSourceSensor } from './process_controller_source_sensor';
+/**
+ * The source used by a process in a closed-loop mode.
+ */
+export interface ProcessControllerSource {
+    /**
+     * The type of input sensor.
+     */
+    sensor: ProcessControllerSourceSensor;
+    /**
+     * The specific input to use.
+     */
+    port: number;
+}
+export declare namespace ProcessControllerSource {
+    const __type = "ProcessControllerSource";
+}

package/dist/lib/ascii/process_controller_source.js

@@ -0,0 +1,53 @@
+"use strict";
+// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
+// ============= DO NOT EDIT DIRECTLY ============= //
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
+    Object.defineProperty(o, "default", { enumerable: true, value: v });
+}) : function(o, v) {
+    o["default"] = v;
+});
+var __importStar = (this && this.__importStar) || function (mod) {
+    if (mod && mod.__esModule) return mod;
+    var result = {};
+    if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
+    __setModuleDefault(result, mod);
+    return result;
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.ProcessControllerSource = void 0;
+const gateway = __importStar(require("../gateway"));
+var ProcessControllerSource;
+(function (ProcessControllerSource) {
+    ProcessControllerSource.__type = 'ProcessControllerSource';
+    /** @internal */
+    function fromProtobuf(pbData) {
+        return {
+            sensor: pbData.sensor,
+            port: pbData.port,
+        };
+    }
+    ProcessControllerSource.fromProtobuf = fromProtobuf;
+    /** @internal */
+    function toProtobuf(source) {
+        const pbData = new gateway.ProcessControllerSource();
+        if (source == null) {
+            return pbData;
+        }
+        pbData.setSensor(source.sensor);
+        pbData.setPort(source.port);
+        return pbData;
+    }
+    ProcessControllerSource.toProtobuf = toProtobuf;
+})(ProcessControllerSource = exports.ProcessControllerSource || (exports.ProcessControllerSource = {}));
+//# sourceMappingURL=process_controller_source.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"process_controller_source.js","sourceRoot":"","sources":["../../../src/ascii/process_controller_source.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;;;;;;;;;;;;;;;;;;;;;;;;AAEtD,oDAAsC;AAmBtC,IAAiB,uBAAuB,CAqBvC;AArBD,WAAiB,uBAAuB;IACzB,8BAAM,GAAG,yBAAyB,CAAC;IAEhD,gBAAgB;IAChB,SAAgB,YAAY,CAAC,MAAgD;QAC3E,OAAO;YACL,MAAM,EAAE,MAAM,CAAC,MAAa;YAC5B,IAAI,EAAE,MAAM,CAAC,IAAI;SAClB,CAAC;IACJ,CAAC;IALe,oCAAY,eAK3B,CAAA;IACD,gBAAgB;IAChB,SAAgB,UAAU,CAAC,MAAkD;QAC3E,MAAM,MAAM,GAAG,IAAI,OAAO,CAAC,uBAAuB,EAAE,CAAC;QACrD,IAAI,MAAM,IAAI,IAAI,EAAE;YAClB,OAAO,MAAM,CAAC;SACf;QAED,MAAM,CAAC,SAAS,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC;QAChC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAC5B,OAAO,MAAM,CAAC;IAChB,CAAC;IATe,kCAAU,aASzB,CAAA;AACH,CAAC,EArBgB,uBAAuB,GAAvB,+BAAuB,KAAvB,+BAAuB,QAqBvC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport { ProcessControllerSourceSensor } from './process_controller_source_sensor';\n\n/**\n * The source used by a process in a closed-loop mode.\n */\nexport interface ProcessControllerSource {\n  /**\n   * The type of input sensor.\n   */\n  sensor: ProcessControllerSourceSensor;\n\n  /**\n   * The specific input to use.\n   */\n  port: number;\n\n}\n\nexport namespace ProcessControllerSource {\n  export const __type = 'ProcessControllerSource';\n\n  /** @internal */\n  export function fromProtobuf(pbData: gateway.ProcessControllerSource.AsObject): ProcessControllerSource {\n    return {\n      sensor: pbData.sensor as any,\n      port: pbData.port,\n    };\n  }\n  /** @internal */\n  export function toProtobuf(source: ProcessControllerSource | null | undefined): gateway.ProcessControllerSource {\n    const pbData = new gateway.ProcessControllerSource();\n    if (source == null) {\n      return pbData;\n    }\n\n    pbData.setSensor(source.sensor);\n    pbData.setPort(source.port);\n    return pbData;\n  }\n}\n"]}

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

@@ -0,0 +1,7 @@
+/**
+ * Servo Tuning Parameter Set to target.
+ */
+export declare enum ProcessControllerSourceSensor {
+    THERMISTOR = 10,
+    ANALOG_INPUT = 20
+}

package/dist/lib/ascii/process_controller_source_sensor.js

@@ -0,0 +1,14 @@
+"use strict";
+// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
+// ============= DO NOT EDIT DIRECTLY ============= //
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.ProcessControllerSourceSensor = void 0;
+/**
+ * Servo Tuning Parameter Set to target.
+ */
+var ProcessControllerSourceSensor;
+(function (ProcessControllerSourceSensor) {
+    ProcessControllerSourceSensor[ProcessControllerSourceSensor["THERMISTOR"] = 10] = "THERMISTOR";
+    ProcessControllerSourceSensor[ProcessControllerSourceSensor["ANALOG_INPUT"] = 20] = "ANALOG_INPUT";
+})(ProcessControllerSourceSensor = exports.ProcessControllerSourceSensor || (exports.ProcessControllerSourceSensor = {}));
+//# sourceMappingURL=process_controller_source_sensor.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"process_controller_source_sensor.js","sourceRoot":"","sources":["../../../src/ascii/process_controller_source_sensor.ts"],"names":[],"mappings":";AAAA,sDAAsD;AACtD,sDAAsD;;;AAEtD;;GAEG;AACH,IAAY,6BAGX;AAHD,WAAY,6BAA6B;IACvC,8FAAe,CAAA;IACf,kGAAiB,CAAA;AACnB,CAAC,EAHW,6BAA6B,GAA7B,qCAA6B,KAA7B,qCAA6B,QAGxC","sourcesContent":["// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\n/**\n * Servo Tuning Parameter Set to target.\n */\nexport enum ProcessControllerSourceSensor {\n  THERMISTOR = 10,\n  ANALOG_INPUT = 20,\n}\n"]}

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

@@ -99,20 +99,20 @@ export declare class Stream {
      * Queue an absolute arc movement on the first two axes of the stream.
      * Absolute meaning that the home positions of the axes is treated as the origin.
      * @param rotationDirection The direction of the rotation.
-     * @param centerX The first dimensions of the position of the center of the circle on which the arc exists.
-     * @param centerY The second dimensions of the position of the center of the circle on which the arc exists.
-     * @param endX The first dimensions of the end position of the arc.
-     * @param endY The second dimensions of the end position of the arc.
+     * @param centerX The first dimension of the position of the center of the circle on which the arc exists.
+     * @param centerY The second dimension of the position of the center of the circle on which the arc exists.
+     * @param endX The first dimension of the end position of the arc.
+     * @param endY The second dimension of the end position of the arc.
      */
     arcAbsolute(rotationDirection: RotationDirection, centerX: Measurement, centerY: Measurement, endX: Measurement, endY: Measurement): Promise<void>;
     /**
      * Queue a relative arc movement on the first two axes of the stream.
      * Relative meaning that the current position of the axes is treated as the origin.
      * @param rotationDirection The direction of the rotation.
-     * @param centerX The first dimensions of the position of the center of the circle on which the arc exists.
-     * @param centerY The second dimensions of the position of the center of the circle on which the arc exists.
-     * @param endX The first dimensions of the end position of the arc.
-     * @param endY The second dimensions of the end position of the arc.
+     * @param centerX The first dimension of the position of the center of the circle on which the arc exists.
+     * @param centerY The second dimension of the position of the center of the circle on which the arc exists.
+     * @param endX The first dimension of the end position of the arc.
+     * @param endY The second dimension of the end position of the arc.
      */
     arcRelative(rotationDirection: RotationDirection, centerX: Measurement, centerY: Measurement, endX: Measurement, endY: Measurement): Promise<void>;
     /**
@@ -123,10 +123,10 @@ export declare class Stream {
      * Refers to the axes provided during the stream setup or further execution.
      * Indices are zero-based.
      * @param rotationDirection The direction of the rotation.
-     * @param centerX The first dimensions of the position of the center of the circle on which the arc exists.
-     * @param centerY The second dimensions of the position of the center of the circle on which the arc exists.
-     * @param endX The first dimensions of the end position of the arc.
-     * @param endY The second dimensions of the end position of the arc.
+     * @param centerX The first dimension of the position of the center of the circle on which the arc exists.
+     * @param centerY The second dimension of the position of the center of the circle on which the arc exists.
+     * @param endX The first dimension of the end position of the arc.
+     * @param endY The second dimension of the end position of the arc.
      */
     arcAbsoluteOn(targetAxesIndices: number[], rotationDirection: RotationDirection, centerX: Measurement, centerY: Measurement, endX: Measurement, endY: Measurement): Promise<void>;
     /**
@@ -137,12 +137,44 @@ export declare class Stream {
      * Refers to the axes provided during the stream setup or further execution.
      * Indices are zero-based.
      * @param rotationDirection The direction of the rotation.
-     * @param centerX The first dimensions of the position of the center of the circle on which the arc exists.
-     * @param centerY The second dimensions of the position of the center of the circle on which the arc exists.
-     * @param endX The first dimensions of the end position of the arc.
-     * @param endY The second dimensions of the end position of the arc.
+     * @param centerX The first dimension of the position of the center of the circle on which the arc exists.
+     * @param centerY The second dimension of the position of the center of the circle on which the arc exists.
+     * @param endX The first dimension of the end position of the arc.
+     * @param endY The second dimension of the end position of the arc.
      */
     arcRelativeOn(targetAxesIndices: number[], rotationDirection: RotationDirection, centerX: Measurement, centerY: Measurement, endX: Measurement, endY: Measurement): Promise<void>;
+    /**
+     * Queue an absolute helix movement in the stream.
+     * Requires at least Firmware 7.28.
+     * @param targetAxesIndices Indices of the axes in the stream the movement targets.
+     * Refers to the axes provided during the stream setup or further execution.
+     * Indices are zero-based.
+     * The first two axes refer to the helix's arc component,
+     * while the rest refers to the helix's line component.
+     * @param rotationDirection The direction of the rotation.
+     * @param centerX The first dimension of the position of the center of the circle on which the helix projects.
+     * @param centerY The second dimension of the position of the center of the circle on which the helix projects.
+     * @param endX The first dimension of the end position of the helix's arc component.
+     * @param endY The second dimension of the end position of the helix's arc component.
+     * @param endpoint Positions for the helix's line component axes, relative to their home positions.
+     */
+    helixAbsoluteOn(targetAxesIndices: number[], rotationDirection: RotationDirection, centerX: Measurement, centerY: Measurement, endX: Measurement, endY: Measurement, ...endpoint: Measurement[]): Promise<void>;
+    /**
+     * Queue a relative helix movement in the stream.
+     * Requires at least Firmware 7.28.
+     * @param targetAxesIndices Indices of the axes in the stream the movement targets.
+     * Refers to the axes provided during the stream setup or further execution.
+     * Indices are zero-based.
+     * The first two axes refer to the helix's arc component,
+     * while the rest refers to the helix's line component.
+     * @param rotationDirection The direction of the rotation.
+     * @param centerX The first dimension of the position of the center of the circle on which the helix projects.
+     * @param centerY The second dimension of the position of the center of the circle on which the helix projects.
+     * @param endX The first dimension of the end position of the helix's arc component.
+     * @param endY The second dimension of the end position of the helix's arc component.
+     * @param endpoint Positions for the helix's line component axes, relative to their positions before movement.
+     */
+    helixRelativeOn(targetAxesIndices: number[], rotationDirection: RotationDirection, centerX: Measurement, centerY: Measurement, endX: Measurement, endY: Measurement, ...endpoint: Measurement[]): Promise<void>;
     /**
      * Queue an absolute circle movement on the first two axes of the stream.
      * Absolute meaning that the home positions of the axes are treated as the origin.

package/dist/lib/ascii/stream.js

@@ -212,10 +212,10 @@ class Stream {
      * Queue an absolute arc movement on the first two axes of the stream.
      * Absolute meaning that the home positions of the axes is treated as the origin.
      * @param rotationDirection The direction of the rotation.
-     * @param centerX The first dimensions of the position of the center of the circle on which the arc exists.
-     * @param centerY The second dimensions of the position of the center of the circle on which the arc exists.
-     * @param endX The first dimensions of the end position of the arc.
-     * @param endY The second dimensions of the end position of the arc.
+     * @param centerX The first dimension of the position of the center of the circle on which the arc exists.
+     * @param centerY The second dimension of the position of the center of the circle on which the arc exists.
+     * @param endX The first dimension of the end position of the arc.
+     * @param endY The second dimension of the end position of the arc.
      */
     async arcAbsolute(rotationDirection, centerX, centerY, endX, endY) {
         const request = new gateway.StreamArcRequest();
@@ -234,10 +234,10 @@ class Stream {
      * Queue a relative arc movement on the first two axes of the stream.
      * Relative meaning that the current position of the axes is treated as the origin.
      * @param rotationDirection The direction of the rotation.
-     * @param centerX The first dimensions of the position of the center of the circle on which the arc exists.
-     * @param centerY The second dimensions of the position of the center of the circle on which the arc exists.
-     * @param endX The first dimensions of the end position of the arc.
-     * @param endY The second dimensions of the end position of the arc.
+     * @param centerX The first dimension of the position of the center of the circle on which the arc exists.
+     * @param centerY The second dimension of the position of the center of the circle on which the arc exists.
+     * @param endX The first dimension of the end position of the arc.
+     * @param endY The second dimension of the end position of the arc.
      */
     async arcRelative(rotationDirection, centerX, centerY, endX, endY) {
         const request = new gateway.StreamArcRequest();
@@ -260,10 +260,10 @@ class Stream {
      * Refers to the axes provided during the stream setup or further execution.
      * Indices are zero-based.
      * @param rotationDirection The direction of the rotation.
-     * @param centerX The first dimensions of the position of the center of the circle on which the arc exists.
-     * @param centerY The second dimensions of the position of the center of the circle on which the arc exists.
-     * @param endX The first dimensions of the end position of the arc.
-     * @param endY The second dimensions of the end position of the arc.
+     * @param centerX The first dimension of the position of the center of the circle on which the arc exists.
+     * @param centerY The second dimension of the position of the center of the circle on which the arc exists.
+     * @param endX The first dimension of the end position of the arc.
+     * @param endY The second dimension of the end position of the arc.
      */
     async arcAbsoluteOn(targetAxesIndices, rotationDirection, centerX, centerY, endX, endY) {
         const request = new gateway.StreamArcRequest();
@@ -287,10 +287,10 @@ class Stream {
      * Refers to the axes provided during the stream setup or further execution.
      * Indices are zero-based.
      * @param rotationDirection The direction of the rotation.
-     * @param centerX The first dimensions of the position of the center of the circle on which the arc exists.
-     * @param centerY The second dimensions of the position of the center of the circle on which the arc exists.
-     * @param endX The first dimensions of the end position of the arc.
-     * @param endY The second dimensions of the end position of the arc.
+     * @param centerX The first dimension of the position of the center of the circle on which the arc exists.
+     * @param centerY The second dimension of the position of the center of the circle on which the arc exists.
+     * @param endX The first dimension of the end position of the arc.
+     * @param endY The second dimension of the end position of the arc.
      */
     async arcRelativeOn(targetAxesIndices, rotationDirection, centerX, centerY, endX, endY) {
         const request = new gateway.StreamArcRequest();
@@ -306,6 +306,66 @@ class Stream {
         request.setEndY(measurement_1.Measurement.toProtobuf(endY));
         await gateway.callAsync('device/stream_arc', request);
     }
+    /**
+     * Queue an absolute helix movement in the stream.
+     * Requires at least Firmware 7.28.
+     * @param targetAxesIndices Indices of the axes in the stream the movement targets.
+     * Refers to the axes provided during the stream setup or further execution.
+     * Indices are zero-based.
+     * The first two axes refer to the helix's arc component,
+     * while the rest refers to the helix's line component.
+     * @param rotationDirection The direction of the rotation.
+     * @param centerX The first dimension of the position of the center of the circle on which the helix projects.
+     * @param centerY The second dimension of the position of the center of the circle on which the helix projects.
+     * @param endX The first dimension of the end position of the helix's arc component.
+     * @param endY The second dimension of the end position of the helix's arc component.
+     * @param endpoint Positions for the helix's line component axes, relative to their home positions.
+     */
+    async helixAbsoluteOn(targetAxesIndices, rotationDirection, centerX, centerY, endX, endY, ...endpoint) {
+        const request = new gateway.StreamArcRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.streamId);
+        request.setType(gateway.StreamArcRequest.Type.ABS);
+        request.setTargetAxesIndicesList(targetAxesIndices);
+        request.setRotationDirection(rotationDirection);
+        request.setCenterX(measurement_1.Measurement.toProtobuf(centerX));
+        request.setCenterY(measurement_1.Measurement.toProtobuf(centerY));
+        request.setEndX(measurement_1.Measurement.toProtobuf(endX));
+        request.setEndY(measurement_1.Measurement.toProtobuf(endY));
+        request.setEndpointList(endpoint.map(measurement_1.Measurement.toProtobuf));
+        await gateway.callAsync('device/stream_helix', request);
+    }
+    /**
+     * Queue a relative helix movement in the stream.
+     * Requires at least Firmware 7.28.
+     * @param targetAxesIndices Indices of the axes in the stream the movement targets.
+     * Refers to the axes provided during the stream setup or further execution.
+     * Indices are zero-based.
+     * The first two axes refer to the helix's arc component,
+     * while the rest refers to the helix's line component.
+     * @param rotationDirection The direction of the rotation.
+     * @param centerX The first dimension of the position of the center of the circle on which the helix projects.
+     * @param centerY The second dimension of the position of the center of the circle on which the helix projects.
+     * @param endX The first dimension of the end position of the helix's arc component.
+     * @param endY The second dimension of the end position of the helix's arc component.
+     * @param endpoint Positions for the helix's line component axes, relative to their positions before movement.
+     */
+    async helixRelativeOn(targetAxesIndices, rotationDirection, centerX, centerY, endX, endY, ...endpoint) {
+        const request = new gateway.StreamArcRequest();
+        request.setInterfaceId(this.device.connection.interfaceId);
+        request.setDevice(this.device.deviceAddress);
+        request.setStreamId(this.streamId);
+        request.setType(gateway.StreamArcRequest.Type.REL);
+        request.setTargetAxesIndicesList(targetAxesIndices);
+        request.setRotationDirection(rotationDirection);
+        request.setCenterX(measurement_1.Measurement.toProtobuf(centerX));
+        request.setCenterY(measurement_1.Measurement.toProtobuf(centerY));
+        request.setEndX(measurement_1.Measurement.toProtobuf(endX));
+        request.setEndY(measurement_1.Measurement.toProtobuf(endY));
+        request.setEndpointList(endpoint.map(measurement_1.Measurement.toProtobuf));
+        await gateway.callAsync('device/stream_helix', request);
+    }
     /**
      * Queue an absolute circle movement on the first two axes of the stream.
      * Absolute meaning that the home positions of the axes are treated as the origin.