@zaber/motion 7.12.0 → 7.13.0

package/LICENSE

@@ -65,13 +65,13 @@ SOFTWARE.
 
 
 ------------------
-github.com/davecgh/go-spew v1.1.1
+github.com/davecgh/go-spew v1.1.0
 ------------------
 ISC License
 
 Copyright (c) 2012-2016 Dave Collins <dave@davec.name>
 
-Permission to use, copy, modify, and/or distribute this software for any
+Permission to use, copy, modify, and distribute this software for any
 purpose with or without fee is hereby granted, provided that the above
 copyright notice and this permission notice appear in all copies.
 
@@ -397,7 +397,58 @@ NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 ------------------
-github.com/stretchr/testify v1.8.1
+github.com/sirupsen/logrus v1.9.3
+------------------
+The MIT License (MIT)
+
+Copyright (c) 2014 Simon Eskildsen
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+------------------
+github.com/stretchr/objx v0.1.0
+------------------
+The MIT License
+
+Copyright (c) 2014 Stretchr, Inc.
+Copyright (c) 2017-2018 objx contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+------------------
+github.com/stretchr/testify v1.7.0
 ------------------
 MIT License
 
@@ -1364,9 +1415,9 @@ go.mongodb.org/mongo-driver v1.14.0
    limitations under the License.
 
 ------------------
-golang.org/x/crypto v0.28.0
+golang.org/x/crypto v0.11.0
 ------------------
-Copyright 2009 The Go Authors.
+Copyright (c) 2009 The Go Authors. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are
@@ -1378,7 +1429,7 @@ notice, this list of conditions and the following disclaimer.
 copyright notice, this list of conditions and the following disclaimer
 in the documentation and/or other materials provided with the
 distribution.
-   * Neither the name of Google LLC nor the names of its
+   * Neither the name of Google Inc. nor the names of its
 contributors may be used to endorse or promote products derived from
 this software without specific prior written permission.
 
@@ -1456,6 +1507,37 @@ THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
+------------------
+golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4
+------------------
+Copyright (c) 2009 The Go Authors. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+   * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+   * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
 ------------------
 golang.org/x/net v0.0.0-20190620200207-3b0461eec859
 ------------------
@@ -1488,9 +1570,9 @@ THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 ------------------
-golang.org/x/sys v0.34.0
+golang.org/x/sync v0.0.0-20190423024810-112230192c58
 ------------------
-Copyright 2009 The Go Authors.
+Copyright (c) 2009 The Go Authors. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are
@@ -1502,7 +1584,69 @@ notice, this list of conditions and the following disclaimer.
 copyright notice, this list of conditions and the following disclaimer
 in the documentation and/or other materials provided with the
 distribution.
-   * Neither the name of Google LLC nor the names of its
+   * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+------------------
+golang.org/x/sys v0.0.0-20220722155257-8c9f86f7a55f
+------------------
+Copyright (c) 2009 The Go Authors. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+   * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+   * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+------------------
+golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1
+------------------
+Copyright (c) 2009 The Go Authors. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+   * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+   * Neither the name of Google Inc. nor the names of its
 contributors may be used to endorse or promote products derived from
 this software without specific prior written permission.
 
@@ -1549,6 +1693,37 @@ THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
+------------------
+golang.org/x/tools v0.1.12
+------------------
+Copyright (c) 2009 The Go Authors. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+   * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+   * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
 ------------------
 gonum.org/v1/gonum v0.16.0
 ------------------
@@ -1575,6 +1750,35 @@ SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+------------------
+gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405
+------------------
+Gocheck - A rich testing framework for Go
+ 
+Copyright (c) 2010-2013 Gustavo Niemeyer <gustavo@niemeyer.net>
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met: 
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer. 
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution. 
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
 ------------------
 gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c
 ------------------

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

@@ -64,6 +64,10 @@ export declare class Axis {
      * Determines the type of an axis and units it accepts.
      */
     get axisType(): AxisType;
+    /**
+     * The number of microsteps per full step for motion axes. Always equal to 0 for non-motion axes.
+     */
+    get resolution(): number;
     /**
      * User-assigned label of the peripheral.
      */

package/dist/lib/ascii/axis.d.ts.map

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package/dist/lib/ascii/axis.js

@@ -107,6 +107,12 @@ class Axis {
     get axisType() {
         return this.identity.axisType;
     }
+    /**
+     * The number of microsteps per full step for motion axes. Always equal to 0 for non-motion axes.
+     */
+    get resolution() {
+        return this.identity.resolution;
+    }
     /**
      * User-assigned label of the peripheral.
      */

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units, Time } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { AxisStorage } from './storage';\nimport { SetStateAxisResponse } from './set_state_axis_response';\nimport { FirmwareVersion } from '../firmware_version';\n\n/**\n * Represents an axis of motion associated with a device.\n */\nexport class Axis {\n  /**\n   * Device that controls this axis.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The axis number identifies the axis on the device.\n   * The first axis has the number one.\n   */\n  public get axisNumber(): number {\n    return this._axisNumber;\n  }\n  private _axisNumber: number;\n\n  /**\n   * Settings and properties of this axis.\n   */\n  public get settings(): AxisSettings {\n    return this._settings;\n  }\n  private _settings: AxisSettings;\n\n  /**\n   * Key-value storage of this axis.\n   * Requires at least Firmware 7.30.\n   */\n  public get storage(): AxisStorage {\n    return this._storage;\n  }\n  private _storage: AxisStorage;\n\n  /**\n   * Warnings and faults of this axis.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the axis.\n   */\n  public get identity(): AxisIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  public get peripheralId(): number {\n    return this.identity.peripheralId;\n  }\n\n  /**\n   * Name of the peripheral.\n   */\n  public get peripheralName(): string {\n    return this.identity.peripheralName;\n  }\n\n  /**\n   * Serial number of the peripheral, or 0 when not applicable.\n   */\n  public get peripheralSerialNumber(): number {\n    return this.identity.peripheralSerialNumber;\n  }\n\n  /**\n   * Indicates whether the axis is a peripheral or part of an integrated device.\n   */\n  public get isPeripheral(): boolean {\n    return this.identity.isPeripheral;\n  }\n\n  /**\n   * Determines the type of an axis and units it accepts.\n   */\n  public get axisType(): AxisType {\n    return this.identity.axisType;\n  }\n\n  /**\n   * User-assigned label of the peripheral.\n   */\n  public get label(): string {\n    return this._retrieveLabel();\n  }\n\n  constructor(device: Device, axisNumber: number) {\n    this._device = device;\n    this._axisNumber = axisNumber;\n    this._settings = new AxisSettings(this);\n    this._storage = new AxisStorage(this);\n    this._warnings = new Warnings(device, axisNumber);\n  }\n\n  /**\n   * Homes axis. Axis returns to its homing position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: Axis.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceHomeRequest & gateway.Message = {\n      ...requests.DeviceHomeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceHomeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axis movement. Decelerates until zero speed.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: Axis.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceStopRequest & gateway.Message = {\n      ...requests.DeviceStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Parks the axis in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks axis. Axis will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @returns True if the axis is currently parked. False otherwise.\n   */\n  public async isParked(): Promise<boolean> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/is_parked',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Waits until axis stops moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Axis.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.DeviceWaitUntilIdleRequest & gateway.Message = {\n      ...requests.DeviceWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.DeviceWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is executing a motion command.\n   * @returns True if the axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns bool indicating whether the axis has position reference and was homed.\n   * @returns True if the axis has position reference and was homed.\n   */\n  public async isHomed(): Promise<boolean> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/is_homed',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Move axis to absolute position.\n   * @param position Absolute position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Axis.MoveAbsoluteOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.ABS,\n      arg: position,\n      unit: unit,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the maximum position as specified by limit.max.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMax(\n    options: Axis.MoveMaxOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.MAX,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the minimum position as specified by limit.min.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMin(\n    options: Axis.MoveMinOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.MIN,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Move axis to position relative to current position.\n   * @param position Relative position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Axis.MoveRelativeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.REL,\n      arg: position,\n      unit: unit,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Begins to move axis at specified speed.\n   * @param velocity Movement velocity.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    options: Axis.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.VEL,\n      arg: velocity,\n      unit: unit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Returns current axis position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @returns Axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request: requests.DeviceGetSettingRequest & gateway.Message = {\n      ...requests.DeviceGetSettingRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      setting: 'pos',\n      unit: unit,\n      toBinary() {\n        return requests.DeviceGetSettingRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleResponse>(\n      'device/get_setting',\n      request,\n      requests.DoubleResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Gets number of index positions of the axis.\n   * @returns Number of index positions.\n   */\n  public async getNumberOfIndexPositions(): Promise<number> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.IntResponse>(\n      'device/get_index_count',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns current axis index position.\n   * @returns Index position starting from 1 or 0 if the position is not an index position.\n   */\n  public async getIndexPosition(): Promise<number> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.IntResponse>(\n      'device/get_index_position',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Moves the axis to index position.\n   * @param index Index position. Index positions are numbered from 1.\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 moveIndex(\n    index: number,\n    options: Axis.MoveIndexOptions = {}\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: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.INDEX,\n      argInt: index,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n   * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @returns A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    options: Axis.GenericCommandOptions = {}\n  ): Promise<Response> {\n    const {\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      command: command,\n      checkErrors: checkErrors,\n      timeout: timeout,\n      toBinary() {\n        return requests.GenericCommandRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<Response>(\n      'interface/generic_command',\n      request,\n      Response.fromBinary);\n    return response;\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis and expect multiple responses.\n   * Responses are returned in order of arrival.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when a device rejects the command.\n   * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @returns All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    options: Axis.GenericCommandMultiResponseOptions = {}\n  ): Promise<Response[]> {\n    const {\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      command: command,\n      checkErrors: checkErrors,\n      timeout: timeout,\n      toBinary() {\n        return requests.GenericCommandRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.GenericCommandResponseCollection>(\n      'interface/generic_command_multi_response',\n      request,\n      requests.GenericCommandResponseCollection.fromBinary);\n    return response.responses;\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis without expecting a response and without adding a message ID\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   */\n  public async genericCommandNoResponse(\n    command: string\n  ): Promise<void> {\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      command: command,\n      toBinary() {\n        return requests.GenericCommandRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Formats parameters into a command and performs unit conversions.\n   * Parameters in the command template are denoted by a question mark.\n   * Command returned is only valid for this axis and this device.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n   * @param parameters Variable number of command parameters.\n   * @returns Command with converted parameters.\n   */\n  public prepareCommand(\n    commandTemplate: string,\n    ...parameters: Measurement[]\n  ): string {\n    const request: requests.PrepareCommandRequest & gateway.Message = {\n      ...requests.PrepareCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      commandTemplate: commandTemplate,\n      parameters: parameters,\n      toBinary() {\n        return requests.PrepareCommandRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/prepare_command',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets the user-assigned peripheral label.\n   * The label is stored on the controller and recognized by other software.\n   * @param label Label to set.\n   */\n  public async setLabel(\n    label: string\n  ): Promise<void> {\n    const request: requests.DeviceSetStorageRequest & gateway.Message = {\n      ...requests.DeviceSetStorageRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      value: label,\n      toBinary() {\n        return requests.DeviceSetStorageRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/set_label', request);\n  }\n\n  /**\n   * Gets the peripheral name.\n   * @returns The label.\n   */\n  private _retrieveLabel(): string {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/get_label',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string that represents the axis.\n   * @returns A string that represents the axis.\n   */\n  public toString(): string {\n    const request: requests.AxisToStringRequest & gateway.Message = {\n      ...requests.AxisToStringRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisToStringRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/axis_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a serialization of the current axis state that can be saved and reapplied.\n   * @returns A serialization of the current state of the axis.\n   */\n  public async getState(): Promise<string> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.StringResponse>(\n      'device/get_state',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Applies a saved state to this axis.\n   * @param state The state object to apply to this axis.\n   * @returns Reports of any issues that were handled, but caused the state to not be exactly restored.\n   */\n  public async setState(\n    state: string\n  ): Promise<SetStateAxisResponse> {\n    const request: requests.SetStateRequest & gateway.Message = {\n      ...requests.SetStateRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      state: state,\n      toBinary() {\n        return requests.SetStateRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<SetStateAxisResponse>(\n      'device/set_axis_state',\n      request,\n      SetStateAxisResponse.fromBinary);\n    return response;\n  }\n\n  /**\n   * Checks if a state can be applied to this axis.\n   * This only covers exceptions that can be determined statically such as mismatches of ID or version,\n   * the process of applying the state can still fail when running.\n   * @param state The state object to check against.\n   * @param options.firmwareVersion The firmware version of the device to apply the state to.\n   * Use this to ensure the state will still be compatible after an update.\n   * @returns An explanation of why this state cannot be set to this axis.\n   */\n  public async canSetState(\n    state: string,\n    options: Axis.CanSetStateOptions = {}\n  ): Promise<string | null> {\n    const {\n      firmwareVersion,\n    } = options;\n    const request: requests.CanSetStateRequest & gateway.Message = {\n      ...requests.CanSetStateRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      state: state,\n      firmwareVersion: firmwareVersion,\n      toBinary() {\n        return requests.CanSetStateRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.CanSetStateAxisResponse>(\n      'device/can_set_axis_state',\n      request,\n      requests.CanSetStateAxisResponse.fromBinary);\n    return response.error ?? null;\n  }\n\n  /**\n   * Returns identity.\n   * @returns Axis identity.\n   */\n  private _retrieveIdentity(): AxisIdentity {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<AxisIdentity>(\n      'device/get_axis_identity',\n      request,\n      AxisIdentity.fromBinary);\n    return response;\n  }\n\n  /**\n   * Disables the driver, which prevents current from being sent to the motor or load.\n   * If the driver is already disabled, the driver remains disabled.\n   */\n  public async driverDisable(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/driver_disable', request);\n  }\n\n  /**\n   * Attempts to enable the driver repeatedly for the specified timeout.\n   * If the driver is already enabled, the driver remains enabled.\n   * @param [options.timeout=10] Timeout in seconds. Specify 0 to attempt to enable the driver once.\n   */\n  public async driverEnable(\n    options: Axis.DriverEnableOptions = {}\n  ): Promise<void> {\n    const {\n      timeout = 10,\n    } = options;\n    const request: requests.DriverEnableRequest & gateway.Message = {\n      ...requests.DriverEnableRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      timeout: timeout,\n      toBinary() {\n        return requests.DriverEnableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/driver_enable', request);\n  }\n\n  /**\n   * Activates a peripheral on this axis.\n   * Removes all identity information for the device.\n   * Run the identify method on the device after activating to refresh the information.\n   */\n  public async activate(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/activate', request);\n  }\n\n  /**\n   * Restores all axis settings to their default values.\n   * Deletes all zaber axis storage keys.\n   * Disables lockstep if the axis is part of one. Unparks the axis.\n   * Preserves storage.\n   * The device needs to be identified again after the restore.\n   */\n  public async restore(): Promise<void> {\n    const request: requests.DeviceRestoreRequest & gateway.Message = {\n      ...requests.DeviceRestoreRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.DeviceRestoreRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/restore', request);\n  }\n\n  /**\n   * Moves the axis in a sinusoidal trajectory.\n   * @param amplitude Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).\n   * @param amplitudeUnits Units of position.\n   * @param period Period of the sinusoidal motion in milliseconds.\n   * @param periodUnits Units of time.\n   * @param [options.count=0] Number of sinusoidal cycles to complete.\n   * Must be a multiple of 0.5\n   * If count is not specified or set to 0, the axis will move indefinitely.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveSin(\n    amplitude: number,\n    amplitudeUnits: Length | Angle | Native,\n    period: number,\n    periodUnits: Time | Native,\n    options: Axis.MoveSinOptions = {}\n  ): Promise<void> {\n    const {\n      count = 0,\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceMoveSinRequest & gateway.Message = {\n      ...requests.DeviceMoveSinRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      amplitude: amplitude,\n      amplitudeUnits: amplitudeUnits,\n      period: period,\n      periodUnits: periodUnits,\n      count: count,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceMoveSinRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move_sin', request);\n  }\n\n  /**\n   * Stops the axis at the end of the sinusoidal trajectory.\n   * If the sinusoidal motion was started with an integer-plus-half cycle count,\n   * the motion ends at the half-way point of the sinusoidal trajectory.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished.\n   */\n  public async moveSinStop(\n    options: Axis.MoveSinStopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceStopRequest & gateway.Message = {\n      ...requests.DeviceStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move_sin_stop', request);\n  }\n}\n\nnamespace Axis {\n  export interface HomeOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface StopOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface WaitUntilIdleOptions {\n      /**\n       * Determines whether to throw error when fault is observed.\n       */\n      throwErrorOnFault?: boolean;\n  }\n  export interface MoveAbsoluteOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMaxOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMinOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveRelativeOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveVelocityOptions {\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveIndexOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface GenericCommandOptions {\n      /**\n       * Controls whether to throw an exception when the device rejects the command.\n       */\n      checkErrors?: boolean;\n      /**\n       * The timeout, in milliseconds, for a device to respond to the command.\n       * Overrides the connection default request timeout.\n       */\n      timeout?: number;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      /**\n       * Controls whether to throw an exception when a device rejects the command.\n       */\n      checkErrors?: boolean;\n      /**\n       * The timeout, in milliseconds, for a device to respond to the command.\n       * Overrides the connection default request timeout.\n       */\n      timeout?: number;\n  }\n  export interface CanSetStateOptions {\n      /**\n       * The firmware version of the device to apply the state to.\n       * Use this to ensure the state will still be compatible after an update.\n       */\n      firmwareVersion?: FirmwareVersion;\n  }\n  export interface DriverEnableOptions {\n      /**\n       * Timeout in seconds. Specify 0 to attempt to enable the driver once.\n       */\n      timeout?: number;\n  }\n  export interface MoveSinOptions {\n      /**\n       * Number of sinusoidal cycles to complete.\n       * Must be a multiple of 0.5\n       * If count is not specified or set to 0, the axis will move indefinitely.\n       */\n      count?: number;\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveSinStopOptions {\n      /**\n       * Determines whether function should return after the movement is finished.\n       */\n      waitUntilIdle?: boolean;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { AxisIdentity } from './axis_identity';\nimport { AxisType } from './axis_type';\nimport { Warnings } from './warnings';\nimport { AxisSettings } from './axis_settings';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units, Time } from '../units';\nimport { Response } from './response';\nimport { Measurement } from '../measurement';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { AxisStorage } from './storage';\nimport { SetStateAxisResponse } from './set_state_axis_response';\nimport { FirmwareVersion } from '../firmware_version';\n\n/**\n * Represents an axis of motion associated with a device.\n */\nexport class Axis {\n  /**\n   * Device that controls this axis.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The axis number identifies the axis on the device.\n   * The first axis has the number one.\n   */\n  public get axisNumber(): number {\n    return this._axisNumber;\n  }\n  private _axisNumber: number;\n\n  /**\n   * Settings and properties of this axis.\n   */\n  public get settings(): AxisSettings {\n    return this._settings;\n  }\n  private _settings: AxisSettings;\n\n  /**\n   * Key-value storage of this axis.\n   * Requires at least Firmware 7.30.\n   */\n  public get storage(): AxisStorage {\n    return this._storage;\n  }\n  private _storage: AxisStorage;\n\n  /**\n   * Warnings and faults of this axis.\n   */\n  public get warnings(): Warnings {\n    return this._warnings;\n  }\n  private _warnings: Warnings;\n\n  /**\n   * Identity of the axis.\n   */\n  public get identity(): AxisIdentity {\n    return this._retrieveIdentity();\n  }\n\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  public get peripheralId(): number {\n    return this.identity.peripheralId;\n  }\n\n  /**\n   * Name of the peripheral.\n   */\n  public get peripheralName(): string {\n    return this.identity.peripheralName;\n  }\n\n  /**\n   * Serial number of the peripheral, or 0 when not applicable.\n   */\n  public get peripheralSerialNumber(): number {\n    return this.identity.peripheralSerialNumber;\n  }\n\n  /**\n   * Indicates whether the axis is a peripheral or part of an integrated device.\n   */\n  public get isPeripheral(): boolean {\n    return this.identity.isPeripheral;\n  }\n\n  /**\n   * Determines the type of an axis and units it accepts.\n   */\n  public get axisType(): AxisType {\n    return this.identity.axisType;\n  }\n\n  /**\n   * The number of microsteps per full step for motion axes. Always equal to 0 for non-motion axes.\n   */\n  public get resolution(): number {\n    return this.identity.resolution;\n  }\n\n  /**\n   * User-assigned label of the peripheral.\n   */\n  public get label(): string {\n    return this._retrieveLabel();\n  }\n\n  constructor(device: Device, axisNumber: number) {\n    this._device = device;\n    this._axisNumber = axisNumber;\n    this._settings = new AxisSettings(this);\n    this._storage = new AxisStorage(this);\n    this._warnings = new Warnings(device, axisNumber);\n  }\n\n  /**\n   * Homes axis. Axis returns to its homing position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: Axis.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceHomeRequest & gateway.Message = {\n      ...requests.DeviceHomeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceHomeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/home', request);\n  }\n\n  /**\n   * Stops ongoing axis movement. Decelerates until zero speed.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: Axis.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceStopRequest & gateway.Message = {\n      ...requests.DeviceStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stop', request);\n  }\n\n  /**\n   * Parks the axis in anticipation of turning the power off.\n   * It can later be powered on, unparked, and moved without first having to home it.\n   */\n  public async park(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/park', request);\n  }\n\n  /**\n   * Unparks axis. Axis will now be able to move.\n   */\n  public async unpark(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/unpark', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is parked or not.\n   * @returns True if the axis is currently parked. False otherwise.\n   */\n  public async isParked(): Promise<boolean> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/is_parked',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Waits until axis stops moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Axis.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.DeviceWaitUntilIdleRequest & gateway.Message = {\n      ...requests.DeviceWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.DeviceWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the axis is executing a motion command.\n   * @returns True if the axis is currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns bool indicating whether the axis has position reference and was homed.\n   * @returns True if the axis has position reference and was homed.\n   */\n  public async isHomed(): Promise<boolean> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/is_homed',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Move axis to absolute position.\n   * @param position Absolute position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Axis.MoveAbsoluteOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.ABS,\n      arg: position,\n      unit: unit,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the maximum position as specified by limit.max.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMax(\n    options: Axis.MoveMaxOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.MAX,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Moves the axis to the minimum position as specified by limit.min.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMin(\n    options: Axis.MoveMinOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.MIN,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Move axis to position relative to current position.\n   * @param position Relative position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Axis.MoveRelativeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.REL,\n      arg: position,\n      unit: unit,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Begins to move axis at specified speed.\n   * @param velocity Movement velocity.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    options: Axis.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.VEL,\n      arg: velocity,\n      unit: unit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Returns current axis position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @returns Axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request: requests.DeviceGetSettingRequest & gateway.Message = {\n      ...requests.DeviceGetSettingRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      setting: 'pos',\n      unit: unit,\n      toBinary() {\n        return requests.DeviceGetSettingRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleResponse>(\n      'device/get_setting',\n      request,\n      requests.DoubleResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Gets number of index positions of the axis.\n   * @returns Number of index positions.\n   */\n  public async getNumberOfIndexPositions(): Promise<number> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.IntResponse>(\n      'device/get_index_count',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns current axis index position.\n   * @returns Index position starting from 1 or 0 if the position is not an index position.\n   */\n  public async getIndexPosition(): Promise<number> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.IntResponse>(\n      'device/get_index_position',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Moves the axis to index position.\n   * @param index Index position. Index positions are numbered from 1.\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 moveIndex(\n    index: number,\n    options: Axis.MoveIndexOptions = {}\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: requests.DeviceMoveRequest & gateway.Message = {\n      ...requests.DeviceMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      type: requests.AxisMoveType.INDEX,\n      argInt: index,\n      waitUntilIdle: waitUntilIdle,\n      velocity: velocity,\n      velocityUnit: velocityUnit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.DeviceMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when the device rejects the command.\n   * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @returns A response to the command.\n   */\n  public async genericCommand(\n    command: string,\n    options: Axis.GenericCommandOptions = {}\n  ): Promise<Response> {\n    const {\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      command: command,\n      checkErrors: checkErrors,\n      timeout: timeout,\n      toBinary() {\n        return requests.GenericCommandRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<Response>(\n      'interface/generic_command',\n      request,\n      Response.fromBinary);\n    return response;\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis and expect multiple responses.\n   * Responses are returned in order of arrival.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   * @param [options.checkErrors=true] Controls whether to throw an exception when a device rejects the command.\n   * @param [options.timeout=0] The timeout, in milliseconds, for a device to respond to the command.\n   * Overrides the connection default request timeout.\n   * @returns All responses to the command.\n   */\n  public async genericCommandMultiResponse(\n    command: string,\n    options: Axis.GenericCommandMultiResponseOptions = {}\n  ): Promise<Response[]> {\n    const {\n      checkErrors = true,\n      timeout = 0,\n    } = options;\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      command: command,\n      checkErrors: checkErrors,\n      timeout: timeout,\n      toBinary() {\n        return requests.GenericCommandRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.GenericCommandResponseCollection>(\n      'interface/generic_command_multi_response',\n      request,\n      requests.GenericCommandResponseCollection.fromBinary);\n    return response.responses;\n  }\n\n  /**\n   * Sends a generic ASCII command to this axis without expecting a response and without adding a message ID\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param command Command and its parameters.\n   */\n  public async genericCommandNoResponse(\n    command: string\n  ): Promise<void> {\n    const request: requests.GenericCommandRequest & gateway.Message = {\n      ...requests.GenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      command: command,\n      toBinary() {\n        return requests.GenericCommandRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('interface/generic_command_no_response', request);\n  }\n\n  /**\n   * Formats parameters into a command and performs unit conversions.\n   * Parameters in the command template are denoted by a question mark.\n   * Command returned is only valid for this axis and this device.\n   * For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).\n   * @param commandTemplate Template of a command to prepare. Parameters are denoted by question marks.\n   * @param parameters Variable number of command parameters.\n   * @returns Command with converted parameters.\n   */\n  public prepareCommand(\n    commandTemplate: string,\n    ...parameters: Measurement[]\n  ): string {\n    const request: requests.PrepareCommandRequest & gateway.Message = {\n      ...requests.PrepareCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      commandTemplate: commandTemplate,\n      parameters: parameters,\n      toBinary() {\n        return requests.PrepareCommandRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/prepare_command',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets the user-assigned peripheral label.\n   * The label is stored on the controller and recognized by other software.\n   * @param label Label to set.\n   */\n  public async setLabel(\n    label: string\n  ): Promise<void> {\n    const request: requests.DeviceSetStorageRequest & gateway.Message = {\n      ...requests.DeviceSetStorageRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      value: label,\n      toBinary() {\n        return requests.DeviceSetStorageRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/set_label', request);\n  }\n\n  /**\n   * Gets the peripheral name.\n   * @returns The label.\n   */\n  private _retrieveLabel(): string {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/get_label',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string that represents the axis.\n   * @returns A string that represents the axis.\n   */\n  public toString(): string {\n    const request: requests.AxisToStringRequest & gateway.Message = {\n      ...requests.AxisToStringRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisToStringRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/axis_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a serialization of the current axis state that can be saved and reapplied.\n   * @returns A serialization of the current state of the axis.\n   */\n  public async getState(): Promise<string> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.StringResponse>(\n      'device/get_state',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Applies a saved state to this axis.\n   * @param state The state object to apply to this axis.\n   * @returns Reports of any issues that were handled, but caused the state to not be exactly restored.\n   */\n  public async setState(\n    state: string\n  ): Promise<SetStateAxisResponse> {\n    const request: requests.SetStateRequest & gateway.Message = {\n      ...requests.SetStateRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      state: state,\n      toBinary() {\n        return requests.SetStateRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<SetStateAxisResponse>(\n      'device/set_axis_state',\n      request,\n      SetStateAxisResponse.fromBinary);\n    return response;\n  }\n\n  /**\n   * Checks if a state can be applied to this axis.\n   * This only covers exceptions that can be determined statically such as mismatches of ID or version,\n   * the process of applying the state can still fail when running.\n   * @param state The state object to check against.\n   * @param options.firmwareVersion The firmware version of the device to apply the state to.\n   * Use this to ensure the state will still be compatible after an update.\n   * @returns An explanation of why this state cannot be set to this axis.\n   */\n  public async canSetState(\n    state: string,\n    options: Axis.CanSetStateOptions = {}\n  ): Promise<string | null> {\n    const {\n      firmwareVersion,\n    } = options;\n    const request: requests.CanSetStateRequest & gateway.Message = {\n      ...requests.CanSetStateRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      state: state,\n      firmwareVersion: firmwareVersion,\n      toBinary() {\n        return requests.CanSetStateRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.CanSetStateAxisResponse>(\n      'device/can_set_axis_state',\n      request,\n      requests.CanSetStateAxisResponse.fromBinary);\n    return response.error ?? null;\n  }\n\n  /**\n   * Returns identity.\n   * @returns Axis identity.\n   */\n  private _retrieveIdentity(): AxisIdentity {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<AxisIdentity>(\n      'device/get_axis_identity',\n      request,\n      AxisIdentity.fromBinary);\n    return response;\n  }\n\n  /**\n   * Disables the driver, which prevents current from being sent to the motor or load.\n   * If the driver is already disabled, the driver remains disabled.\n   */\n  public async driverDisable(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/driver_disable', request);\n  }\n\n  /**\n   * Attempts to enable the driver repeatedly for the specified timeout.\n   * If the driver is already enabled, the driver remains enabled.\n   * @param [options.timeout=10] Timeout in seconds. Specify 0 to attempt to enable the driver once.\n   */\n  public async driverEnable(\n    options: Axis.DriverEnableOptions = {}\n  ): Promise<void> {\n    const {\n      timeout = 10,\n    } = options;\n    const request: requests.DriverEnableRequest & gateway.Message = {\n      ...requests.DriverEnableRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      timeout: timeout,\n      toBinary() {\n        return requests.DriverEnableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/driver_enable', request);\n  }\n\n  /**\n   * Activates a peripheral on this axis.\n   * Removes all identity information for the device.\n   * Run the identify method on the device after activating to refresh the information.\n   */\n  public async activate(): Promise<void> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/activate', request);\n  }\n\n  /**\n   * Restores all axis settings to their default values.\n   * Deletes all zaber axis storage keys.\n   * Disables lockstep if the axis is part of one. Unparks the axis.\n   * Preserves storage.\n   * The device needs to be identified again after the restore.\n   */\n  public async restore(): Promise<void> {\n    const request: requests.DeviceRestoreRequest & gateway.Message = {\n      ...requests.DeviceRestoreRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      toBinary() {\n        return requests.DeviceRestoreRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/restore', request);\n  }\n\n  /**\n   * Moves the axis in a sinusoidal trajectory.\n   * @param amplitude Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).\n   * @param amplitudeUnits Units of position.\n   * @param period Period of the sinusoidal motion in milliseconds.\n   * @param periodUnits Units of time.\n   * @param [options.count=0] Number of sinusoidal cycles to complete.\n   * Must be a multiple of 0.5\n   * If count is not specified or set to 0, the axis will move indefinitely.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async moveSin(\n    amplitude: number,\n    amplitudeUnits: Length | Angle | Native,\n    period: number,\n    periodUnits: Time | Native,\n    options: Axis.MoveSinOptions = {}\n  ): Promise<void> {\n    const {\n      count = 0,\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceMoveSinRequest & gateway.Message = {\n      ...requests.DeviceMoveSinRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      amplitude: amplitude,\n      amplitudeUnits: amplitudeUnits,\n      period: period,\n      periodUnits: periodUnits,\n      count: count,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceMoveSinRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move_sin', request);\n  }\n\n  /**\n   * Stops the axis at the end of the sinusoidal trajectory.\n   * If the sinusoidal motion was started with an integer-plus-half cycle count,\n   * the motion ends at the half-way point of the sinusoidal trajectory.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished.\n   */\n  public async moveSinStop(\n    options: Axis.MoveSinStopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.DeviceStopRequest & gateway.Message = {\n      ...requests.DeviceStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      axis: this.axisNumber,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.DeviceStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/move_sin_stop', request);\n  }\n}\n\nnamespace Axis {\n  export interface HomeOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface StopOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface WaitUntilIdleOptions {\n      /**\n       * Determines whether to throw error when fault is observed.\n       */\n      throwErrorOnFault?: boolean;\n  }\n  export interface MoveAbsoluteOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMaxOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMinOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveRelativeOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveVelocityOptions {\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveIndexOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n      /**\n       * Movement velocity.\n       * Default value of 0 indicates that the maxspeed setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      velocity?: number;\n      /**\n       * Units of velocity.\n       */\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      /**\n       * Movement acceleration.\n       * Default value of 0 indicates that the accel setting is used instead.\n       * Requires at least Firmware 7.25.\n       */\n      acceleration?: number;\n      /**\n       * Units of acceleration.\n       */\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface GenericCommandOptions {\n      /**\n       * Controls whether to throw an exception when the device rejects the command.\n       */\n      checkErrors?: boolean;\n      /**\n       * The timeout, in milliseconds, for a device to respond to the command.\n       * Overrides the connection default request timeout.\n       */\n      timeout?: number;\n  }\n  export interface GenericCommandMultiResponseOptions {\n      /**\n       * Controls whether to throw an exception when a device rejects the command.\n       */\n      checkErrors?: boolean;\n      /**\n       * The timeout, in milliseconds, for a device to respond to the command.\n       * Overrides the connection default request timeout.\n       */\n      timeout?: number;\n  }\n  export interface CanSetStateOptions {\n      /**\n       * The firmware version of the device to apply the state to.\n       * Use this to ensure the state will still be compatible after an update.\n       */\n      firmwareVersion?: FirmwareVersion;\n  }\n  export interface DriverEnableOptions {\n      /**\n       * Timeout in seconds. Specify 0 to attempt to enable the driver once.\n       */\n      timeout?: number;\n  }\n  export interface MoveSinOptions {\n      /**\n       * Number of sinusoidal cycles to complete.\n       * Must be a multiple of 0.5\n       * If count is not specified or set to 0, the axis will move indefinitely.\n       */\n      count?: number;\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveSinStopOptions {\n      /**\n       * Determines whether function should return after the movement is finished.\n       */\n      waitUntilIdle?: boolean;\n  }\n}\n"]}

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

@@ -28,6 +28,10 @@ export interface AxisIdentity {
      * The peripheral has hardware modifications.
      */
     isModified: boolean;
+    /**
+     * The number of microsteps per full step for motion axes. Always equal to 0 for non-motion axes.
+     */
+    resolution: number;
 }
 export declare const AxisIdentity: {
     fromBinary: (buffer: Uint8Array) => AxisIdentity;

package/dist/lib/ascii/axis_identity.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"axis_identity.d.ts","sourceRoot":"","sources":["../../../src/ascii/axis_identity.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,MAAM,MAAM,CAAC;AAE5B,OAAO,EAAE,QAAQ,EAAE,MAAM,oBAAoB,CAAC;AAE9C;;GAEG;AACH,MAAM,WAAW,YAAY;IAC3B;;OAEG;IACH,YAAY,EAAE,MAAM,CAAC;IAErB;;OAEG;IACH,cAAc,EAAE,MAAM,CAAC;IAEvB;;OAEG;IACH,sBAAsB,EAAE,MAAM,CAAC;IAE/B;;OAEG;IACH,YAAY,EAAE,OAAO,CAAC;IAEtB;;OAEG;IACH,QAAQ,EAAE,QAAQ,CAAC;IAEnB;;OAEG;IACH,UAAU,EAAE,OAAO,CAAC;IAEpB;;OAEG;IACH,UAAU,EAAE,MAAM,CAAC;CAEpB;AAED,eAAO,MAAM,YAAY;yBACF,UAAU,KAAG,YAAY;sBAC5B,YAAY,KAAG,UAAU;;sBAUzB,YAAY,KAAG,YAAY;qBAa5B,KAAK,QAAQ,KAAG,YAAY;CAS9C,CAAC"}

package/dist/lib/ascii/axis_identity.js

@@ -15,6 +15,7 @@ exports.AxisIdentity = {
         isPeripheral: false,
         axisType: 0,
         isModified: false,
+        resolution: 0,
     }),
     sanitize: (value) => {
         if (value == null) {
@@ -30,6 +31,7 @@ exports.AxisIdentity = {
             isPeripheral: sanitizer_1.sanitizer.sanitizeBool(value.isPeripheral, 'isPeripheral'),
             axisType: sanitizer_1.sanitizer.sanitizeEnum(value.axisType, 'AxisType', axis_type_1.AxisType, 'axisType'),
             isModified: sanitizer_1.sanitizer.sanitizeBool(value.isModified, 'isModified'),
+            resolution: sanitizer_1.sanitizer.sanitizeInt(value.resolution, 'resolution'),
         };
     },
     convert: (value) => ({
@@ -39,6 +41,7 @@ exports.AxisIdentity = {
         isPeripheral: value.isPeripheral,
         axisType: value.axisType,
         isModified: value.isModified,
+        resolution: Number(value.resolution),
     })
 };
 //# sourceMappingURL=axis_identity.js.map

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

@@ -1 +1 @@
-{"version":3,"file":"axis_identity.js","sourceRoot":"","sources":["../../../src/ascii/axis_identity.ts"],"names":[],"mappings":";;;AAAA,oDAAoD;AACpD,+BAA4B;AAC5B,oDAAiD;AACjD,kDAA8C;AAsCjC,QAAA,YAAY,GAAG;IAC1B,UAAU,EAAE,CAAC,MAAkB,EAAgB,EAAE,CAAC,oBAAY,CAAC,OAAO,CAAC,WAAI,CAAC,WAAW,CAAC,MAAM,EAAE,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,CAAC;IACvH,QAAQ,EAAE,CAAC,KAAmB,EAAc,EAAE,CAAC,WAAI,CAAC,SAAS,CAAC,oBAAY,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IAC3F,OAAO,EAAE,MAAM,CAAC,MAAM,CAAC;QACrB,YAAY,EAAE,CAAC;QACf,cAAc,EAAE,EAAE;QAClB,sBAAsB,EAAE,CAAC;QACzB,YAAY,EAAE,KAAK;QACnB,QAAQ,EAAE,CAAa;QACvB,UAAU,EAAE,KAAK;KAClB,CAA2B;IAC5B,QAAQ,EAAE,CAAC,KAAmB,EAAgB,EAAE;QAC9C,IAAI,KAAK,IAAI,IAAI,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,yDAAyD,CAAC,CAAA;QAAC,CAAC;QACrG,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE,CAAC;YAAC,MAAM,IAAI,SAAS,CAAC,wCAAwC,OAAO,KAAK,GAAG,CAAC,CAAA;QAAC,CAAC;QAC/G,OAAO;YACL,YAAY,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,YAAY,EAAE,cAAc,CAAC;YACvE,cAAc,EAAE,qBAAS,CAAC,cAAc,CAAC,KAAK,CAAC,cAAc,EAAE,gBAAgB,CAAC;YAChF,sBAAsB,EAAE,qBAAS,CAAC,WAAW,CAAC,KAAK,CAAC,sBAAsB,EAAE,wBAAwB,CAAC;YACrG,YAAY,EAAE,qBAAS,CAAC,YAAY,CAAC,KAAK,CAAC,YAAY,EAAE,cAAc,CAAC;YACxE,QAAQ,EAAE,qBAAS,CAAC,YAAY,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,EAAE,oBAAQ,EAAE,UAAU,CAAC;YAClF,UAAU,EAAE,qBAAS,CAAC,YAAY,CAAC,KAAK,CAAC,UAAU,EAAE,YAAY,CAAC;SACnE,CAAC;IACJ,CAAC;IACD,OAAO,EAAE,CAAC,KAAoB,EAAgB,EAAE,CAAC,CAAC;QAChD,YAAY,EAAE,KAAK,CAAC,YAAY;QAChC,cAAc,EAAE,KAAK,CAAC,cAAc;QACpC,sBAAsB,EAAE,MAAM,CAAC,KAAK,CAAC,sBAAsB,CAAC;QAC5D,YAAY,EAAE,KAAK,CAAC,YAAY;QAChC,QAAQ,EAAE,KAAK,CAAC,QAAQ;QACxB,UAAU,EAAE,KAAK,CAAC,UAAU;KAC7B,CAAC;CACH,CAAC","sourcesContent":["/* This file is generated. Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\nimport { AxisType } from '../ascii/axis_type';\n\n/**\n * Representation of data gathered during axis identification.\n */\nexport interface AxisIdentity {\n  /**\n   * Unique ID of the peripheral hardware.\n   */\n  peripheralId: number;\n\n  /**\n   * Name of the peripheral.\n   */\n  peripheralName: string;\n\n  /**\n   * Serial number of the peripheral, or 0 when not applicable.\n   */\n  peripheralSerialNumber: number;\n\n  /**\n   * Indicates whether the axis is a peripheral or part of an integrated device.\n   */\n  isPeripheral: boolean;\n\n  /**\n   * Determines the type of an axis and units it accepts.\n   */\n  axisType: AxisType;\n\n  /**\n   * The peripheral has hardware modifications.\n   */\n  isModified: boolean;\n\n}\n\nexport const AxisIdentity = {\n  fromBinary: (buffer: Uint8Array): AxisIdentity => AxisIdentity.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n  toBinary: (value: AxisIdentity): Uint8Array => BSON.serialize(AxisIdentity.sanitize(value)),\n  DEFAULT: Object.freeze({\n    peripheralId: 0,\n    peripheralName: '',\n    peripheralSerialNumber: 0,\n    isPeripheral: false,\n    axisType: 0 as AxisType,\n    isModified: false,\n  }) as Readonly<AxisIdentity>,\n  sanitize: (value: AxisIdentity): AxisIdentity => {\n    if (value == null) { throw new TypeError('Expected AxisIdentity object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected AxisIdentity object but got ${typeof value}.`) }\n    return {\n      peripheralId: sanitizer.sanitizeInt(value.peripheralId, 'peripheralId'),\n      peripheralName: sanitizer.sanitizeString(value.peripheralName, 'peripheralName'),\n      peripheralSerialNumber: sanitizer.sanitizeInt(value.peripheralSerialNumber, 'peripheralSerialNumber'),\n      isPeripheral: sanitizer.sanitizeBool(value.isPeripheral, 'isPeripheral'),\n      axisType: sanitizer.sanitizeEnum(value.axisType, 'AxisType', AxisType, 'axisType'),\n      isModified: sanitizer.sanitizeBool(value.isModified, 'isModified'),\n    };\n  },\n  convert: (value: BSON.Document): AxisIdentity => ({\n    peripheralId: value.peripheralId,\n    peripheralName: value.peripheralName,\n    peripheralSerialNumber: Number(value.peripheralSerialNumber),\n    isPeripheral: value.isPeripheral,\n    axisType: value.axisType,\n    isModified: value.isModified,\n  })\n};\n"]}
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package/dist/lib/ascii/simple_tuning.d.ts

@@ -18,7 +18,7 @@ export interface SimpleTuning {
      */
     carriageMass?: (number | null);
     /**
-     * The mass of the carriage in kg.
+     * The inertia of the motor in kg⋅m².
      */
     motorInertia?: (number | null);
     /**

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

@@ -1 +1 @@
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package/dist/lib/library.js

@@ -172,7 +172,7 @@ class Library {
         const request = {
             ...requests.CheckVersionRequest.DEFAULT,
             host: 'js',
-            version: '7.12.0',
+            version: '7.13.0',
             toBinary() {
                 return requests.CheckVersionRequest.toBinary(this);
             },

package/dist/lib/library.js.map

@@ -1 +1 @@
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Allows selection of a web service or a local file.\n   * @param sourceType Source type.\n   * @param urlOrFilePath URL of the web service or path to the local file.\n   * Leave empty for the default URL of Zaber web service.\n   */\n  public static setDeviceDbSource(\n    sourceType: DeviceDbSourceType,\n    urlOrFilePath?: string\n  ): void {\n    const request: requests.SetDeviceDbSourceRequest & gateway.Message = {\n      ...requests.SetDeviceDbSourceRequest.DEFAULT,\n      sourceType: sourceType,\n      urlOrFilePath: urlOrFilePath,\n      toBinary() {\n        return requests.SetDeviceDbSourceRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/set_source', request);\n  }\n\n  /**\n   * Sets a sequence of sources. When the library needs device information,\n   * it will try each source in the order they are provided.\n   * @param sources The list of sources the library will access data from.\n   */\n  public static setDeviceDbSources(\n    ...sources: DeviceDbSource[]\n  ): void {\n    const request: requests.SetDeviceDbLayeredSourcesRequest & gateway.Message = {\n      ...requests.SetDeviceDbLayeredSourcesRequest.DEFAULT,\n      sources: sources,\n      toBinary() {\n        return requests.SetDeviceDbLayeredSourcesRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/set_sources', request);\n  }\n\n  /**\n   * Enables Device DB store.\n   * The store uses filesystem to save information obtained from the Device DB.\n   * The stored data are later used instead of the Device DB.\n   * @param storeLocation Specifies relative or absolute path of the folder used by the store.\n   * If left empty defaults to a folder in user home directory.\n   * Must be accessible by the process.\n   */\n  public static enableDeviceDbStore(\n    storeLocation?: string\n  ): void {\n    const request: requests.ToggleDeviceDbStoreRequest & gateway.Message = {\n      ...requests.ToggleDeviceDbStoreRequest.DEFAULT,\n      toggleOn: true,\n      storeLocation: storeLocation,\n      toBinary() {\n        return requests.ToggleDeviceDbStoreRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/toggle_store', request);\n  }\n\n  /**\n   * Disables Device DB store.\n   */\n  public static disableDeviceDbStore(): void {\n    const request: requests.ToggleDeviceDbStoreRequest & gateway.Message = {\n      ...requests.ToggleDeviceDbStoreRequest.DEFAULT,\n      toBinary() {\n        return requests.ToggleDeviceDbStoreRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device_db/toggle_store', request);\n  }\n\n  /**\n   * Checks if the Device DB store is currently enabled.\n   * @returns True if the Device DB store is enabled.\n   */\n  public static isDeviceDbStoreEnabled(): boolean {\n    const request: requests.EmptyRequest & gateway.Message = {\n      ...requests.EmptyRequest.DEFAULT,\n      toBinary() {\n        return requests.EmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.BoolResponse>(\n      'device_db/check_store',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Clears the Device DB store on the local filesystem.\n   * Note: If the device DB was enabled with a custom store location, store files will be removed in that location.\n   */\n  public static async clearDeviceDbStore(): Promise<void> {\n    const request: requests.EmptyRequest & gateway.Message = {\n      ...requests.EmptyRequest.DEFAULT,\n      toBinary() {\n        return requests.EmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device_db/clear_store', request);\n  }\n\n  /**\n   * Disables certain customer checks (like FF flag).\n   * @param mode Whether to turn internal mode on or off.\n   */\n  public static setInternalMode(\n    mode: boolean\n  ): void {\n    const request: requests.SetInternalModeRequest & gateway.Message = {\n      ...requests.SetInternalModeRequest.DEFAULT,\n      mode: mode,\n      toBinary() {\n        return requests.SetInternalModeRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/set_internal_mode', request);\n  }\n\n  /**\n   * Sets the period between polling for IDLE during movements.\n   * Caution: Setting the period too low may cause performance issues.\n   * @param period Period in milliseconds.\n   * Negative value restores the default period.\n   */\n  public static setIdlePollingPeriod(\n    period: number\n  ): void {\n    const request: requests.IntRequest & gateway.Message = {\n      ...requests.IntRequest.DEFAULT,\n      value: period,\n      toBinary() {\n        return requests.IntRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/set_idle_polling_period', request);\n  }\n\n  /**\n   * Throws an error if the version of the loaded shared library does not match the caller's version.\n   */\n  public static checkVersion(): void {\n    const request: requests.CheckVersionRequest & gateway.Message = {\n      ...requests.CheckVersionRequest.DEFAULT,\n      host: 'js',\n      version: '7.13.0',\n      toBinary() {\n        return requests.CheckVersionRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('library/check_version', request);\n  }\n}\n\ngateway.addInitCallback(Library.checkVersion);\n"]}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@zaber/motion",
-  "version": "7.12.0",
+  "version": "7.13.0",
   "description": "Zaber Motion Library is a multi-platform library used to operate Zaber devices.",
   "keywords": [],
   "main": "dist/lib/index.js",