@zaber/motion 7.2.1 → 7.2.3

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

@@ -196,54 +196,162 @@ export declare class Lockstep {
 }
 declare namespace Lockstep {
     interface StopOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
     }
     interface HomeOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
     }
     interface MoveAbsoluteOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
+        /**
+         * Movement velocity.
+         * Default value of 0 indicates that the maxspeed setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         velocity?: number;
+        /**
+         * Units of velocity.
+         */
         velocityUnit?: Velocity | AngularVelocity | Native;
+        /**
+         * Movement acceleration.
+         * Default value of 0 indicates that the accel setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         acceleration?: number;
+        /**
+         * Units of acceleration.
+         */
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
     interface MoveRelativeOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
+        /**
+         * Movement velocity.
+         * Default value of 0 indicates that the maxspeed setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         velocity?: number;
+        /**
+         * Units of velocity.
+         */
         velocityUnit?: Velocity | AngularVelocity | Native;
+        /**
+         * Movement acceleration.
+         * Default value of 0 indicates that the accel setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         acceleration?: number;
+        /**
+         * Units of acceleration.
+         */
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
     interface MoveVelocityOptions {
+        /**
+         * Movement acceleration.
+         * Default value of 0 indicates that the accel setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         acceleration?: number;
+        /**
+         * Units of acceleration.
+         */
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
     interface MoveSinOptions {
+        /**
+         * Number of sinusoidal cycles to complete.
+         * Must be a multiple of 0.5
+         * If count is not specified or set to 0, the axis will move indefinitely.
+         */
         count?: number;
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
     }
     interface MoveSinStopOptions {
+        /**
+         * Determines whether function should return after the movement is finished.
+         */
         waitUntilIdle?: boolean;
     }
     interface MoveMaxOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
+        /**
+         * Movement velocity.
+         * Default value of 0 indicates that the maxspeed setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         velocity?: number;
+        /**
+         * Units of velocity.
+         */
         velocityUnit?: Velocity | AngularVelocity | Native;
+        /**
+         * Movement acceleration.
+         * Default value of 0 indicates that the accel setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         acceleration?: number;
+        /**
+         * Units of acceleration.
+         */
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
     interface MoveMinOptions {
+        /**
+         * Determines whether function should return after the movement is finished or just started.
+         */
         waitUntilIdle?: boolean;
+        /**
+         * Movement velocity.
+         * Default value of 0 indicates that the maxspeed setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         velocity?: number;
+        /**
+         * Units of velocity.
+         */
         velocityUnit?: Velocity | AngularVelocity | Native;
+        /**
+         * Movement acceleration.
+         * Default value of 0 indicates that the accel setting is used instead.
+         * Requires at least Firmware 7.25.
+         */
         acceleration?: number;
+        /**
+         * Units of acceleration.
+         */
         accelerationUnit?: Acceleration | AngularAcceleration | Native;
     }
     interface WaitUntilIdleOptions {
+        /**
+         * Determines whether to throw error when fault is observed.
+         */
         throwErrorOnFault?: boolean;
     }
     interface SetToleranceOptions {
+        /**
+         * Optional index of a secondary axis to set the tolerance for.
+         * If left empty or set to 0, the tolerance is set to all the secondary axes.
+         */
         axisIndex?: number;
     }
 }

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

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units, Time } from '../units';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { LockstepAxes } from './lockstep_axes';\n\n/**\n * Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n * Requires at least Firmware 6.15 or 7.11.\n */\nexport class Lockstep {\n  /**\n   * Device that controls this lockstep group.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the lockstep group on the device.\n   */\n  public get lockstepGroupId(): number {\n    return this._lockstepGroupId;\n  }\n  private _lockstepGroupId: number;\n\n  constructor(device: Device, lockstepGroupId: number) {\n    this._device = device;\n    this._lockstepGroupId = lockstepGroupId;\n  }\n\n  /**\n   * Activate the lockstep group on the axes specified.\n   * @param axes The numbers of axes in the lockstep group.\n   */\n  public async enable(\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.LockstepEnableRequest & gateway.Message = {\n      ...requests.LockstepEnableRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      axes: axes,\n      toBinary() {\n        return requests.LockstepEnableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_enable', request);\n  }\n\n  /**\n   * Disable the lockstep group.\n   */\n  public async disable(): Promise<void> {\n    const request: requests.LockstepDisableRequest & gateway.Message = {\n      ...requests.LockstepDisableRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepDisableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_disable', request);\n  }\n\n  /**\n   * Stops ongoing lockstep group movement. Decelerates until zero speed.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: Lockstep.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepStopRequest & gateway.Message = {\n      ...requests.LockstepStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_stop', request);\n  }\n\n  /**\n   * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: Lockstep.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepHomeRequest & gateway.Message = {\n      ...requests.LockstepHomeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepHomeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_home', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to an absolute position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Absolute position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveAbsoluteOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\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.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to a position relative to its current position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Relative position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveRelativeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\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.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group at the specified speed.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param velocity Movement velocity.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    options: Lockstep.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.VEL,\n      arg: velocity,\n      unit: unit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group in a sinusoidal trajectory.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\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: Lockstep.MoveSinOptions = {}\n  ): Promise<void> {\n    const {\n      count = 0,\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepMoveSinRequest & gateway.Message = {\n      ...requests.LockstepMoveSinRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      amplitude: amplitude,\n      amplitudeUnits: amplitudeUnits,\n      period: period,\n      periodUnits: periodUnits,\n      count: count,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepMoveSinRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move_sin', request);\n  }\n\n  /**\n   * Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.\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: Lockstep.MoveSinStopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepStopRequest & gateway.Message = {\n      ...requests.LockstepStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move_sin_stop', request);\n  }\n\n  /**\n   * Moves the axes to the maximum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.max for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMax(\n    options: Lockstep.MoveMaxOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\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.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the minimum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.min for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMin(\n    options: Lockstep.MoveMinOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\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.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Waits until the lockstep group stops moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Lockstep.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.LockstepWaitUntilIdleRequest & gateway.Message = {\n      ...requests.LockstepWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.LockstepWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the lockstep group is executing a motion command.\n   * @returns True if the axes are currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * @deprecated Use GetAxisNumbers instead.\n   *\n   * Gets the axes of the lockstep group.\n   * @returns LockstepAxes instance which contains the axes numbers of the lockstep group.\n   */\n  public async getAxes(): Promise<LockstepAxes> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<LockstepAxes>(\n      'device/lockstep_get_axes',\n      request,\n      LockstepAxes.fromBinary);\n    return response;\n  }\n\n  /**\n   * Gets the axis numbers of the lockstep group.\n   * @returns Axis numbers in order specified when enabling lockstep.\n   */\n  public async getAxisNumbers(): Promise<number[]> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.LockstepGetAxisNumbersResponse>(\n      'device/lockstep_get_axis_numbers',\n      request,\n      requests.LockstepGetAxisNumbersResponse.fromBinary);\n    return response.axes;\n  }\n\n  /**\n   * Gets the initial offsets of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Initial offset for each axis of the lockstep group.\n   */\n  public async getOffsets(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n      'device/lockstep_get_offsets',\n      request,\n      requests.DoubleArrayResponse.fromBinary);\n    return response.values;\n  }\n\n  /**\n   * Gets the twists of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.\n   */\n  public async getTwists(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n      'device/lockstep_get_twists',\n      request,\n      requests.DoubleArrayResponse.fromBinary);\n    return response.values;\n  }\n\n  /**\n   * Returns current position of the primary axis.\n   * @param [unit=Units.NATIVE] Units of the position.\n   * @returns Primary axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleResponse>(\n      'device/lockstep_get_pos',\n      request,\n      requests.DoubleResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets lockstep twist tolerance.\n   * Twist tolerances that do not match the system configuration can reduce performance or damage the system.\n   * @param tolerance Twist tolerance.\n   * @param [unit=Units.NATIVE] Units of the tolerance.\n   * Uses primary axis unit conversion when setting to all axes,\n   * otherwise uses specified secondary axis unit conversion.\n   * @param [options.axisIndex=0] Optional index of a secondary axis to set the tolerance for.\n   * If left empty or set to 0, the tolerance is set to all the secondary axes.\n   */\n  public async setTolerance(\n    tolerance: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.SetToleranceOptions = {}\n  ): Promise<void> {\n    const {\n      axisIndex = 0,\n    } = options;\n    const request: requests.LockstepSetRequest & gateway.Message = {\n      ...requests.LockstepSetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      value: tolerance,\n      unit: unit,\n      axisIndex: axisIndex,\n      toBinary() {\n        return requests.LockstepSetRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_set_tolerance', request);\n  }\n\n  /**\n   * Checks if the lockstep group is currently enabled on the device.\n   * @returns True if a lockstep group with this ID is enabled on the device.\n   */\n  public async isEnabled(): Promise<boolean> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_enabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string which represents the enabled lockstep group.\n   * @returns String which represents the enabled lockstep group.\n   */\n  public toString(): string {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/lockstep_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace Lockstep {\n  export interface StopOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface HomeOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveAbsoluteOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveRelativeOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveVelocityOptions {\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveSinOptions {\n      count?: number;\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveSinStopOptions {\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveMaxOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface MoveMinOptions {\n      waitUntilIdle?: boolean;\n      velocity?: number;\n      velocityUnit?: Velocity | AngularVelocity | Native;\n      acceleration?: number;\n      accelerationUnit?: Acceleration | AngularAcceleration | Native;\n  }\n  export interface WaitUntilIdleOptions {\n      throwErrorOnFault?: boolean;\n  }\n  export interface SetToleranceOptions {\n      axisIndex?: number;\n  }\n}\n"]}
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport { Angle, Length, Native, AngularVelocity, Velocity, Acceleration, AngularAcceleration, Units, Time } from '../units';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { LockstepAxes } from './lockstep_axes';\n\n/**\n * Represents a lockstep group with this ID on a device.\n * A lockstep group is a movement synchronized pair of axes on a device.\n * Requires at least Firmware 6.15 or 7.11.\n */\nexport class Lockstep {\n  /**\n   * Device that controls this lockstep group.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the lockstep group on the device.\n   */\n  public get lockstepGroupId(): number {\n    return this._lockstepGroupId;\n  }\n  private _lockstepGroupId: number;\n\n  constructor(device: Device, lockstepGroupId: number) {\n    this._device = device;\n    this._lockstepGroupId = lockstepGroupId;\n  }\n\n  /**\n   * Activate the lockstep group on the axes specified.\n   * @param axes The numbers of axes in the lockstep group.\n   */\n  public async enable(\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.LockstepEnableRequest & gateway.Message = {\n      ...requests.LockstepEnableRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      axes: axes,\n      toBinary() {\n        return requests.LockstepEnableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_enable', request);\n  }\n\n  /**\n   * Disable the lockstep group.\n   */\n  public async disable(): Promise<void> {\n    const request: requests.LockstepDisableRequest & gateway.Message = {\n      ...requests.LockstepDisableRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepDisableRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_disable', request);\n  }\n\n  /**\n   * Stops ongoing lockstep group movement. Decelerates until zero speed.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async stop(\n    options: Lockstep.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepStopRequest & gateway.Message = {\n      ...requests.LockstepStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_stop', request);\n  }\n\n  /**\n   * Retracts the axes of the lockstep group until a home associated with an individual axis is detected.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   */\n  public async home(\n    options: Lockstep.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepHomeRequest & gateway.Message = {\n      ...requests.LockstepHomeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepHomeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_home', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to an absolute position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Absolute position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveAbsolute(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveAbsoluteOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\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.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Move the first axis of the lockstep group to a position relative to its current position.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param position Relative position.\n   * @param [unit=Units.NATIVE] Units of position.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveRelative(\n    position: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.MoveRelativeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\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.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group at the specified speed.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\n   * @param velocity Movement velocity.\n   * @param [unit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveVelocity(\n    velocity: number,\n    unit: Velocity | AngularVelocity | Native = Units.NATIVE,\n    options: Lockstep.MoveVelocityOptions = {}\n  ): Promise<void> {\n    const {\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      type: requests.AxisMoveType.VEL,\n      arg: velocity,\n      unit: unit,\n      acceleration: acceleration,\n      accelerationUnit: accelerationUnit,\n      toBinary() {\n        return requests.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the first axis of the lockstep group in a sinusoidal trajectory.\n   * The other axes in the lockstep group maintain their offsets throughout movement.\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: Lockstep.MoveSinOptions = {}\n  ): Promise<void> {\n    const {\n      count = 0,\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepMoveSinRequest & gateway.Message = {\n      ...requests.LockstepMoveSinRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      amplitude: amplitude,\n      amplitudeUnits: amplitudeUnits,\n      period: period,\n      periodUnits: periodUnits,\n      count: count,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepMoveSinRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move_sin', request);\n  }\n\n  /**\n   * Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.\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: Lockstep.MoveSinStopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.LockstepStopRequest & gateway.Message = {\n      ...requests.LockstepStopRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.LockstepStopRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move_sin_stop', request);\n  }\n\n  /**\n   * Moves the axes to the maximum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.max for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMax(\n    options: Lockstep.MoveMaxOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\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.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Moves the axes to the minimum valid position.\n   * The axes in the lockstep group maintain their offsets throughout movement.\n   * Respects lim.min for all axes in the group.\n   * @param [options.waitUntilIdle=true] Determines whether function should return after the movement is finished or just started.\n   * @param [options.velocity=0] Movement velocity.\n   * Default value of 0 indicates that the maxspeed setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.velocityUnit=Units.NATIVE] Units of velocity.\n   * @param [options.acceleration=0] Movement acceleration.\n   * Default value of 0 indicates that the accel setting is used instead.\n   * Requires at least Firmware 7.25.\n   * @param [options.accelerationUnit=Units.NATIVE] Units of acceleration.\n   */\n  public async moveMin(\n    options: Lockstep.MoveMinOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n      velocity = 0,\n      velocityUnit = Units.NATIVE,\n      acceleration = 0,\n      accelerationUnit = Units.NATIVE,\n    } = options;\n    const request: requests.LockstepMoveRequest & gateway.Message = {\n      ...requests.LockstepMoveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\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.LockstepMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_move', request);\n  }\n\n  /**\n   * Waits until the lockstep group stops moving.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: Lockstep.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.LockstepWaitUntilIdleRequest & gateway.Message = {\n      ...requests.LockstepWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.LockstepWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_wait_until_idle', request);\n  }\n\n  /**\n   * Returns bool indicating whether the lockstep group is executing a motion command.\n   * @returns True if the axes are currently executing a motion command.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * @deprecated Use GetAxisNumbers instead.\n   *\n   * Gets the axes of the lockstep group.\n   * @returns LockstepAxes instance which contains the axes numbers of the lockstep group.\n   */\n  public async getAxes(): Promise<LockstepAxes> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<LockstepAxes>(\n      'device/lockstep_get_axes',\n      request,\n      LockstepAxes.fromBinary);\n    return response;\n  }\n\n  /**\n   * Gets the axis numbers of the lockstep group.\n   * @returns Axis numbers in order specified when enabling lockstep.\n   */\n  public async getAxisNumbers(): Promise<number[]> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.LockstepGetAxisNumbersResponse>(\n      'device/lockstep_get_axis_numbers',\n      request,\n      requests.LockstepGetAxisNumbersResponse.fromBinary);\n    return response.axes;\n  }\n\n  /**\n   * Gets the initial offsets of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Initial offset for each axis of the lockstep group.\n   */\n  public async getOffsets(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n      'device/lockstep_get_offsets',\n      request,\n      requests.DoubleArrayResponse.fromBinary);\n    return response.values;\n  }\n\n  /**\n   * Gets the twists of secondary axes of an enabled lockstep group.\n   * @param [unit=Units.NATIVE] Units of position.\n   * Uses primary axis unit conversion.\n   * @returns Difference between the initial offset and the actual offset for each axis of the lockstep group.\n   */\n  public async getTwists(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number[]> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleArrayResponse>(\n      'device/lockstep_get_twists',\n      request,\n      requests.DoubleArrayResponse.fromBinary);\n    return response.values;\n  }\n\n  /**\n   * Returns current position of the primary axis.\n   * @param [unit=Units.NATIVE] Units of the position.\n   * @returns Primary axis position.\n   */\n  public async getPosition(\n    unit: Length | Angle | Native = Units.NATIVE\n  ): Promise<number> {\n    const request: requests.LockstepGetRequest & gateway.Message = {\n      ...requests.LockstepGetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      unit: unit,\n      toBinary() {\n        return requests.LockstepGetRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleResponse>(\n      'device/lockstep_get_pos',\n      request,\n      requests.DoubleResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets lockstep twist tolerance.\n   * Twist tolerances that do not match the system configuration can reduce performance or damage the system.\n   * @param tolerance Twist tolerance.\n   * @param [unit=Units.NATIVE] Units of the tolerance.\n   * Uses primary axis unit conversion when setting to all axes,\n   * otherwise uses specified secondary axis unit conversion.\n   * @param [options.axisIndex=0] Optional index of a secondary axis to set the tolerance for.\n   * If left empty or set to 0, the tolerance is set to all the secondary axes.\n   */\n  public async setTolerance(\n    tolerance: number,\n    unit: Length | Angle | Native = Units.NATIVE,\n    options: Lockstep.SetToleranceOptions = {}\n  ): Promise<void> {\n    const {\n      axisIndex = 0,\n    } = options;\n    const request: requests.LockstepSetRequest & gateway.Message = {\n      ...requests.LockstepSetRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      value: tolerance,\n      unit: unit,\n      axisIndex: axisIndex,\n      toBinary() {\n        return requests.LockstepSetRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/lockstep_set_tolerance', request);\n  }\n\n  /**\n   * Checks if the lockstep group is currently enabled on the device.\n   * @returns True if a lockstep group with this ID is enabled on the device.\n   */\n  public async isEnabled(): Promise<boolean> {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/lockstep_is_enabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string which represents the enabled lockstep group.\n   * @returns String which represents the enabled lockstep group.\n   */\n  public toString(): string {\n    const request: requests.LockstepEmptyRequest & gateway.Message = {\n      ...requests.LockstepEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      lockstepGroupId: this.lockstepGroupId,\n      toBinary() {\n        return requests.LockstepEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/lockstep_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n}\n\nnamespace Lockstep {\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 HomeOptions {\n      /**\n       * Determines whether function should return after the movement is finished or just started.\n       */\n      waitUntilIdle?: 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 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 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  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 WaitUntilIdleOptions {\n      /**\n       * Determines whether to throw error when fault is observed.\n       */\n      throwErrorOnFault?: boolean;\n  }\n  export interface SetToleranceOptions {\n      /**\n       * Optional index of a secondary axis to set the tolerance for.\n       * If left empty or set to 0, the tolerance is set to all the secondary axes.\n       */\n      axisIndex?: number;\n  }\n}\n"]}

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

@@ -193,6 +193,9 @@ export declare class PvtSequence {
 }
 declare namespace PvtSequence {
     interface WaitUntilIdleOptions {
+        /**
+         * Determines whether to throw error when fault is observed.
+         */
         throwErrorOnFault?: boolean;
     }
 }

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

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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport { Device } from './device';\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Measurement } from '../measurement';\nimport { PvtBuffer } from './pvt_buffer';\nimport { PvtMode } from './pvt_mode';\nimport { PvtAxisDefinition } from './pvt_axis_definition';\nimport { PvtIo } from './pvt_io';\nimport { DigitalOutputAction } from './digital_output_action';\n\n/**\n * A handle for a PVT sequence with this number on the device.\n * PVT sequences provide a way execute or store trajectory\n * consisting of points with defined position, velocity, and time.\n * PVT sequence methods append actions to a queue which executes\n * or stores actions in a first in, first out order.\n */\nexport class PvtSequence {\n  /**\n   * Device that controls this PVT sequence.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the PVT sequence on the device.\n   */\n  public get pvtId(): number {\n    return this._pvtId;\n  }\n  private _pvtId: number;\n\n  /**\n   * Current mode of the PVT sequence.\n   */\n  public get mode(): PvtMode {\n    return this._retrieveMode();\n  }\n\n  /**\n   * An array of axes definitions the PVT sequence is set up to control.\n   */\n  public get axes(): PvtAxisDefinition[] {\n    return this._retrieveAxes();\n  }\n\n  /**\n   * Gets an object that provides access to I/O for this sequence.\n   */\n  public get io(): PvtIo {\n    return this._io;\n  }\n  private _io: PvtIo;\n\n  constructor(device: Device, pvtId: number) {\n    this._device = device;\n    this._pvtId = pvtId;\n    this._io = new PvtIo(device, pvtId);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupLiveComposite(\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupLiveCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupLiveCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupLive(\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveRequest & gateway.Message = {\n      ...requests.StreamSetupLiveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupLiveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupStoreComposite(\n    pvtBuffer: PvtBuffer,\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupStoreCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupStoreCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupStore(\n    pvtBuffer: PvtBuffer,\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreRequest & gateway.Message = {\n      ...requests.StreamSetupStoreRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupStoreRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store', request);\n  }\n\n  /**\n   * Append the actions in a PVT buffer to the sequence's queue.\n   * @param pvtBuffer The PVT buffer to call.\n   */\n  public async call(\n    pvtBuffer: PvtBuffer\n  ): Promise<void> {\n    const request: requests.StreamCallRequest & gateway.Message = {\n      ...requests.StreamCallRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      toBinary() {\n        return requests.StreamCallRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_call', request);\n  }\n\n  /**\n   * Queues a point with absolute coordinates in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async point(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.ABS,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Queues a point with coordinates relative to the previous point in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to the previous point.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async pointRelative(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.REL,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Waits until the live PVT sequence executes all queued actions.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: PvtSequence.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.StreamWaitUntilIdleRequest & gateway.Message = {\n      ...requests.StreamWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.StreamWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_wait_until_idle', request);\n  }\n\n  /**\n   * Cork the front of the PVT sequences's action queue, blocking execution.\n   * Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.\n   * Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.\n   * You can only cork an idle live PVT sequence.\n   */\n  public async cork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_cork', request);\n  }\n\n  /**\n   * Uncork the front of the queue, unblocking command execution.\n   * You can only uncork an idle live PVT sequence that is corked.\n   */\n  public async uncork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_uncork', request);\n  }\n\n  /**\n   * Returns a boolean value indicating whether the live PVT sequence is executing a queued action.\n   * @returns True if the PVT sequence is executing a queued action.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string which represents the PVT sequence.\n   * @returns String which represents the PVT sequence.\n   */\n  public toString(): string {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/stream_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Disables the PVT sequence.\n   * If the PVT sequence is not setup, this command does nothing.\n   * Once disabled, the PVT sequence will no longer accept PVT commands.\n   * The PVT sequence will process the rest of the commands in the queue until it is empty.\n   */\n  public async disable(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_disable', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to the PVT sequence.\n   * Keeps resending the command while the device rejects with AGAIN reason.\n   * @param command Command and its parameters.\n   */\n  public async genericCommand(\n    command: string\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandRequest & gateway.Message = {\n      ...requests.StreamGenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      command: command,\n      toBinary() {\n        return requests.StreamGenericCommandRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command', request);\n  }\n\n  /**\n   * Sends a batch of generic ASCII commands to the PVT sequence.\n   * Keeps resending command while the device rejects with AGAIN reason.\n   * The batch is atomic in terms of thread safety.\n   * @param batch Array of commands.\n   */\n  public async genericCommandBatch(\n    batch: string[]\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandBatchRequest & gateway.Message = {\n      ...requests.StreamGenericCommandBatchRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      batch: batch,\n      toBinary() {\n        return requests.StreamGenericCommandBatchRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command_batch', request);\n  }\n\n  /**\n   * Queries the PVT sequence status from the device\n   * and returns boolean indicating whether the PVT sequence is disabled.\n   * Useful to determine if execution was interrupted by other movements.\n   * @returns True if the PVT sequence is disabled.\n   */\n  public async checkDisabled(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_check_disabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).\n   */\n  public treatDiscontinuitiesAsError(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_treat_discontinuities', request);\n  }\n\n  /**\n   * Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.\n   */\n  public ignoreCurrentDiscontinuity(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_ignore_discontinuity', request);\n  }\n\n  /**\n   * Gets the axes of the PVT sequence.\n   * @returns An array of axis numbers of the axes the PVT sequence is set up to control.\n   */\n  private _retrieveAxes(): PvtAxisDefinition[] {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamGetAxesResponse>(\n      'device/stream_get_axes',\n      request,\n      requests.StreamGetAxesResponse.fromBinary);\n    return response.pvtAxes;\n  }\n\n  /**\n   * Get the mode of the PVT sequence.\n   * @returns Mode of the PVT sequence.\n   */\n  private _retrieveMode(): PvtMode {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamModeResponse>(\n      'device/stream_get_mode',\n      request,\n      requests.StreamModeResponse.fromBinary);\n    return response.pvtMode;\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetDigitalOutput instead.\n   *\n   * Sets value for the specified digital output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value The type of action to perform on the channel.\n   */\n  public async setDigitalOutput(\n    channelNumber: number,\n    value: DigitalOutputAction\n  ): Promise<void> {\n    const request: requests.StreamSetDigitalOutputRequest & gateway.Message = {\n      ...requests.StreamSetDigitalOutputRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      channelNumber: channelNumber,\n      value: value,\n      toBinary() {\n        return requests.StreamSetDigitalOutputRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_digital_output', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAllDigitalOutputs instead.\n   *\n   * Sets values for all digital output channels.\n   * @param values The type of action to perform on the channel.\n   */\n  public async setAllDigitalOutputs(\n    values: DigitalOutputAction[]\n  ): Promise<void> {\n    const request: requests.StreamSetAllDigitalOutputsRequest & gateway.Message = {\n      ...requests.StreamSetAllDigitalOutputsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      values: values,\n      toBinary() {\n        return requests.StreamSetAllDigitalOutputsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_all_digital_outputs', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAnalogOutput instead.\n   *\n   * Sets value for the specified analog output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value Value to set the output channel voltage to.\n   */\n  public async setAnalogOutput(\n    channelNumber: number,\n    value: number\n  ): Promise<void> {\n    const request: requests.StreamSetAnalogOutputRequest & gateway.Message = {\n      ...requests.StreamSetAnalogOutputRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      channelNumber: channelNumber,\n      value: value,\n      toBinary() {\n        return requests.StreamSetAnalogOutputRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_analog_output', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAllAnalogOutputs instead.\n   *\n   * Sets values for all analog output channels.\n   * @param values Voltage values to set the output channels to.\n   */\n  public async setAllAnalogOutputs(\n    values: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetAllAnalogOutputsRequest & gateway.Message = {\n      ...requests.StreamSetAllAnalogOutputsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      values: values,\n      toBinary() {\n        return requests.StreamSetAllAnalogOutputsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_all_analog_outputs', request);\n  }\n}\n\nnamespace PvtSequence {\n  export interface WaitUntilIdleOptions {\n      throwErrorOnFault?: 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 * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Measurement } from '../measurement';\nimport { PvtBuffer } from './pvt_buffer';\nimport { PvtMode } from './pvt_mode';\nimport { PvtAxisDefinition } from './pvt_axis_definition';\nimport { PvtIo } from './pvt_io';\nimport { DigitalOutputAction } from './digital_output_action';\n\n/**\n * A handle for a PVT sequence with this number on the device.\n * PVT sequences provide a way execute or store trajectory\n * consisting of points with defined position, velocity, and time.\n * PVT sequence methods append actions to a queue which executes\n * or stores actions in a first in, first out order.\n */\nexport class PvtSequence {\n  /**\n   * Device that controls this PVT sequence.\n   */\n  public get device(): Device {\n    return this._device;\n  }\n  private _device: Device;\n\n  /**\n   * The number that identifies the PVT sequence on the device.\n   */\n  public get pvtId(): number {\n    return this._pvtId;\n  }\n  private _pvtId: number;\n\n  /**\n   * Current mode of the PVT sequence.\n   */\n  public get mode(): PvtMode {\n    return this._retrieveMode();\n  }\n\n  /**\n   * An array of axes definitions the PVT sequence is set up to control.\n   */\n  public get axes(): PvtAxisDefinition[] {\n    return this._retrieveAxes();\n  }\n\n  /**\n   * Gets an object that provides access to I/O for this sequence.\n   */\n  public get io(): PvtIo {\n    return this._io;\n  }\n  private _io: PvtIo;\n\n  constructor(device: Device, pvtId: number) {\n    this._device = device;\n    this._pvtId = pvtId;\n    this._io = new PvtIo(device, pvtId);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupLiveComposite(\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupLiveCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupLiveCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to control the specified axes and to queue actions on the device.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupLive(\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupLiveRequest & gateway.Message = {\n      ...requests.StreamSetupLiveRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupLiveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_live', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * Allows use of lockstep axes in a PVT sequence.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param pvtAxes Definition of the PVT sequence axes.\n   */\n  public async setupStoreComposite(\n    pvtBuffer: PvtBuffer,\n    ...pvtAxes: PvtAxisDefinition[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreCompositeRequest & gateway.Message = {\n      ...requests.StreamSetupStoreCompositeRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      pvtAxes: pvtAxes,\n      toBinary() {\n        return requests.StreamSetupStoreCompositeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store_composite', request);\n  }\n\n  /**\n   * Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.\n   * @param pvtBuffer The PVT buffer to queue actions in.\n   * @param axes Numbers of physical axes to setup the PVT sequence on.\n   */\n  public async setupStore(\n    pvtBuffer: PvtBuffer,\n    ...axes: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetupStoreRequest & gateway.Message = {\n      ...requests.StreamSetupStoreRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      axes: axes,\n      toBinary() {\n        return requests.StreamSetupStoreRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_setup_store', request);\n  }\n\n  /**\n   * Append the actions in a PVT buffer to the sequence's queue.\n   * @param pvtBuffer The PVT buffer to call.\n   */\n  public async call(\n    pvtBuffer: PvtBuffer\n  ): Promise<void> {\n    const request: requests.StreamCallRequest & gateway.Message = {\n      ...requests.StreamCallRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      pvtBuffer: pvtBuffer.bufferId,\n      toBinary() {\n        return requests.StreamCallRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_call', request);\n  }\n\n  /**\n   * Queues a point with absolute coordinates in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to their home positions.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async point(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.ABS,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Queues a point with coordinates relative to the previous point in the PVT sequence.\n   * If some or all velocities are not provided, the sequence calculates the velocities\n   * from surrounding points using finite difference.\n   * The last point of the sequence must have defined velocity (likely zero).\n   * @param positions Positions for the axes to move through, relative to the previous point.\n   * @param velocities The axes velocities at the given point.\n   * Specify an empty array or null for specific axes to make the sequence calculate the velocity.\n   * @param time The duration between the previous point in the sequence and this one.\n   */\n  public async pointRelative(\n    positions: Measurement[],\n    velocities: (Measurement | null)[],\n    time: Measurement\n  ): Promise<void> {\n    const request: requests.PvtPointRequest & gateway.Message = {\n      ...requests.PvtPointRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      type: requests.StreamSegmentType.REL,\n      positions: positions,\n      velocities: velocities,\n      time: time,\n      toBinary() {\n        return requests.PvtPointRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_point', request);\n  }\n\n  /**\n   * Waits until the live PVT sequence executes all queued actions.\n   * @param [options.throwErrorOnFault=true] Determines whether to throw error when fault is observed.\n   */\n  public async waitUntilIdle(\n    options: PvtSequence.WaitUntilIdleOptions = {}\n  ): Promise<void> {\n    const {\n      throwErrorOnFault = true,\n    } = options;\n    const request: requests.StreamWaitUntilIdleRequest & gateway.Message = {\n      ...requests.StreamWaitUntilIdleRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      throwErrorOnFault: throwErrorOnFault,\n      toBinary() {\n        return requests.StreamWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_wait_until_idle', request);\n  }\n\n  /**\n   * Cork the front of the PVT sequences's action queue, blocking execution.\n   * Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit.\n   * Corking eliminates discontinuities in motion due to subsequent PVT commands reaching the device late.\n   * You can only cork an idle live PVT sequence.\n   */\n  public async cork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_cork', request);\n  }\n\n  /**\n   * Uncork the front of the queue, unblocking command execution.\n   * You can only uncork an idle live PVT sequence that is corked.\n   */\n  public async uncork(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_uncork', request);\n  }\n\n  /**\n   * Returns a boolean value indicating whether the live PVT sequence is executing a queued action.\n   * @returns True if the PVT sequence is executing a queued action.\n   */\n  public async isBusy(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_is_busy',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Returns a string which represents the PVT sequence.\n   * @returns String which represents the PVT sequence.\n   */\n  public toString(): string {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StringResponse>(\n      'device/stream_to_string',\n      request,\n      requests.StringResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Disables the PVT sequence.\n   * If the PVT sequence is not setup, this command does nothing.\n   * Once disabled, the PVT sequence will no longer accept PVT commands.\n   * The PVT sequence will process the rest of the commands in the queue until it is empty.\n   */\n  public async disable(): Promise<void> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_disable', request);\n  }\n\n  /**\n   * Sends a generic ASCII command to the PVT sequence.\n   * Keeps resending the command while the device rejects with AGAIN reason.\n   * @param command Command and its parameters.\n   */\n  public async genericCommand(\n    command: string\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandRequest & gateway.Message = {\n      ...requests.StreamGenericCommandRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      command: command,\n      toBinary() {\n        return requests.StreamGenericCommandRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command', request);\n  }\n\n  /**\n   * Sends a batch of generic ASCII commands to the PVT sequence.\n   * Keeps resending command while the device rejects with AGAIN reason.\n   * The batch is atomic in terms of thread safety.\n   * @param batch Array of commands.\n   */\n  public async genericCommandBatch(\n    batch: string[]\n  ): Promise<void> {\n    const request: requests.StreamGenericCommandBatchRequest & gateway.Message = {\n      ...requests.StreamGenericCommandBatchRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      batch: batch,\n      toBinary() {\n        return requests.StreamGenericCommandBatchRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_generic_command_batch', request);\n  }\n\n  /**\n   * Queries the PVT sequence status from the device\n   * and returns boolean indicating whether the PVT sequence is disabled.\n   * Useful to determine if execution was interrupted by other movements.\n   * @returns True if the PVT sequence is disabled.\n   */\n  public async checkDisabled(): Promise<boolean> {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'device/stream_check_disabled',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).\n   */\n  public treatDiscontinuitiesAsError(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_treat_discontinuities', request);\n  }\n\n  /**\n   * Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.\n   */\n  public ignoreCurrentDiscontinuity(): void {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('device/stream_ignore_discontinuity', request);\n  }\n\n  /**\n   * Gets the axes of the PVT sequence.\n   * @returns An array of axis numbers of the axes the PVT sequence is set up to control.\n   */\n  private _retrieveAxes(): PvtAxisDefinition[] {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamGetAxesResponse>(\n      'device/stream_get_axes',\n      request,\n      requests.StreamGetAxesResponse.fromBinary);\n    return response.pvtAxes;\n  }\n\n  /**\n   * Get the mode of the PVT sequence.\n   * @returns Mode of the PVT sequence.\n   */\n  private _retrieveMode(): PvtMode {\n    const request: requests.StreamEmptyRequest & gateway.Message = {\n      ...requests.StreamEmptyRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      toBinary() {\n        return requests.StreamEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = gateway.callSync<requests.StreamModeResponse>(\n      'device/stream_get_mode',\n      request,\n      requests.StreamModeResponse.fromBinary);\n    return response.pvtMode;\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetDigitalOutput instead.\n   *\n   * Sets value for the specified digital output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value The type of action to perform on the channel.\n   */\n  public async setDigitalOutput(\n    channelNumber: number,\n    value: DigitalOutputAction\n  ): Promise<void> {\n    const request: requests.StreamSetDigitalOutputRequest & gateway.Message = {\n      ...requests.StreamSetDigitalOutputRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      channelNumber: channelNumber,\n      value: value,\n      toBinary() {\n        return requests.StreamSetDigitalOutputRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_digital_output', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAllDigitalOutputs instead.\n   *\n   * Sets values for all digital output channels.\n   * @param values The type of action to perform on the channel.\n   */\n  public async setAllDigitalOutputs(\n    values: DigitalOutputAction[]\n  ): Promise<void> {\n    const request: requests.StreamSetAllDigitalOutputsRequest & gateway.Message = {\n      ...requests.StreamSetAllDigitalOutputsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      values: values,\n      toBinary() {\n        return requests.StreamSetAllDigitalOutputsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_all_digital_outputs', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAnalogOutput instead.\n   *\n   * Sets value for the specified analog output channel.\n   * @param channelNumber Channel number starting at 1.\n   * @param value Value to set the output channel voltage to.\n   */\n  public async setAnalogOutput(\n    channelNumber: number,\n    value: number\n  ): Promise<void> {\n    const request: requests.StreamSetAnalogOutputRequest & gateway.Message = {\n      ...requests.StreamSetAnalogOutputRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      channelNumber: channelNumber,\n      value: value,\n      toBinary() {\n        return requests.StreamSetAnalogOutputRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_analog_output', request);\n  }\n\n  /**\n   * @deprecated Use PvtSequence.Io.SetAllAnalogOutputs instead.\n   *\n   * Sets values for all analog output channels.\n   * @param values Voltage values to set the output channels to.\n   */\n  public async setAllAnalogOutputs(\n    values: number[]\n  ): Promise<void> {\n    const request: requests.StreamSetAllAnalogOutputsRequest & gateway.Message = {\n      ...requests.StreamSetAllAnalogOutputsRequest.DEFAULT,\n      interfaceId: this.device.connection.interfaceId,\n      device: this.device.deviceAddress,\n      streamId: this.pvtId,\n      pvt: true,\n      values: values,\n      toBinary() {\n        return requests.StreamSetAllAnalogOutputsRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('device/stream_set_all_analog_outputs', request);\n  }\n}\n\nnamespace PvtSequence {\n  export interface WaitUntilIdleOptions {\n      /**\n       * Determines whether to throw error when fault is observed.\n       */\n      throwErrorOnFault?: boolean;\n  }\n}\n"]}

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

@@ -46,8 +46,10 @@ export declare class ServoTuner {
      * Only use this method if you have a strong understanding of Zaber specific tuning parameters.
      * @param paramset The paramset to set tuning of.
      * @param tuningParams The params to set.
+     * @param [setUnspecifiedToDefault=false] If true, any tuning parameters not included in TuningParams
+     * are reset to their default values.
      */
-    setTuning(paramset: ServoTuningParamset, tuningParams: ServoTuningParam[]): Promise<void>;
+    setTuning(paramset: ServoTuningParamset, tuningParams: ServoTuningParam[], setUnspecifiedToDefault?: boolean): Promise<void>;
     /**
      * Sets the tuning of a paramset using the PID method.
      * @param paramset The paramset to get tuning for.
@@ -101,9 +103,15 @@ export declare class ServoTuner {
 }
 declare namespace ServoTuner {
     interface SetSimpleTuningOptions {
+        /**
+         * The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+         */
         carriageMass?: number;
     }
     interface IsUsingSimpleTuningOptions {
+        /**
+         * The mass of the carriage in kg. If this value is not set the default carriage mass is used.
+         */
         carriageMass?: number;
     }
 }

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

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