@zaber/motion 8.4.0 → 9.0.1

package/dist/lib/product/ge_1_gripper.d.ts

@@ -0,0 +1,273 @@
+import { Ge1GripperState } from './ge_1_gripper_state';
+import { Ge1GripperError } from './ge_1_gripper_error';
+import { Ge1GripperDirection } from './ge_1_gripper_direction';
+/**
+ * Class representing a gripper in the GE1x series.
+ */
+export declare class GE1Gripper {
+    /**
+     * The default device address for a gripper in the GE1x series.
+     */
+    static readonly DEFAULT_DEVICE_ADDRESS: number;
+    /**
+     * The identifier for the connection.
+     */
+    get connectionId(): number;
+    private _connectionId;
+    constructor(connectionId: number);
+    /**
+     * Opens a serial connection to a gripper.
+     * @param portName The name of the serial port to connect to.
+     * @param [options.deviceAddress=GE1Gripper.DEFAULT_DEVICE_ADDRESS] The address of the gripper to connect to.
+     * @param [options.timeout=500] The timeout in milliseconds for any request sent using this connection.
+     * @returns A GE1Gripper instance representing the connection to the gripper.
+     */
+    static openConnection(portName: string, options?: GE1Gripper.OpenConnectionOptions): Promise<GE1Gripper>;
+    /**
+     * Closes the connection to the gripper.
+     */
+    close(): Promise<void>;
+    /**
+     * Reads a single register value from the gripper.
+     * @param registerAddress The address of the register to read.
+     * @returns The data at the specified register address.
+     */
+    readRegister(registerAddress: number): Promise<number>;
+    /**
+     * Writes a single register value to the gripper.
+     * @param registerAddress The address of the register to write.
+     * @param data The data to write to the specified register address.
+     */
+    writeRegister(registerAddress: number, data: number): Promise<void>;
+    /**
+     * Homes gripper by moving it to its homing position.
+     * @param [options.waitUntilIdle=true] Wait until homing has completed before returning.
+     */
+    home(options?: GE1Gripper.HomeOptions): Promise<void>;
+    /**
+     * Waits until the gripper has stopped moving.
+     */
+    waitUntilIdle(): Promise<void>;
+    /**
+     * Moves the gripper to a specified position.
+     * @param position The target position for the gripper as a percentage, where 0 is closed and 100 is open.
+     * @param [options.waitUntilIdle=true] Wait until the move has completed before returning.
+     */
+    move(position: number, options?: GE1Gripper.MoveOptions): Promise<void>;
+    /**
+     * Moves the gripper to the open position.
+     * @param [options.waitUntilIdle=true] Wait until the move has completed before returning.
+     */
+    moveOpen(options?: GE1Gripper.MoveOpenOptions): Promise<void>;
+    /**
+     * Moves the gripper to the closed position.
+     * @param [options.waitUntilIdle=true] Wait until the move has completed before returning.
+     */
+    moveClose(options?: GE1Gripper.MoveCloseOptions): Promise<void>;
+    /**
+     * Stops the gripper from moving.
+     * @param [options.waitUntilIdle=true] Wait until the gripper has stopped before returning.
+     */
+    stop(options?: GE1Gripper.StopOptions): Promise<void>;
+    /**
+     * Sets the gripping force of the gripper.
+     * @param force The gripping force as a percentage from 20 to 100.
+     */
+    setForce(force: number): Promise<void>;
+    /**
+     * Sets the maximum speed of the gripper.
+     * @param speed The maximum speed as a percentage from 1 to 100.
+     */
+    setSpeed(speed: number): Promise<void>;
+    /**
+     * Enables the gripper driver.
+     */
+    driverEnable(): Promise<void>;
+    /**
+     * Disables the gripper driver.
+     */
+    driverDisable(): Promise<void>;
+    /**
+     * Performs a calibration of the travel range by moving to the fully open and fully closed positions.
+     * @param [options.saveToFlash=true] Save the calibration results to flash memory so they are retained on power cycle.
+     */
+    calibrate(options?: GE1Gripper.CalibrateOptions): Promise<void>;
+    /**
+     * Gets the current state of the gripper.
+     * @returns The current state of the gripper.
+     */
+    getState(): Promise<Ge1GripperState>;
+    /**
+     * Gets the current error of the gripper.
+     * @returns The current error of the gripper.
+     */
+    getError(): Promise<Ge1GripperError>;
+    /**
+     * Clears the current error of the gripper.
+     */
+    clearError(): Promise<void>;
+    /**
+     * Checks if the gripper has been homed.
+     * @returns True if the gripper is homed, false otherwise.
+     */
+    isHomed(): Promise<boolean>;
+    /**
+     * Gets the current position of the gripper.
+     * @returns The current position of the gripper as a percentage, where 0 is closed and 100 is open.
+     */
+    getPosition(): Promise<number>;
+    /**
+     * Gets the current current of the gripper.
+     * @returns The current current of the gripper in milliamps.
+     */
+    getCurrent(): Promise<number>;
+    /**
+     * Sets the home direction for the gripper.
+     * @param direction The home direction to set.
+     * @param [options.saveToFlash=true] Save the home direction setting to flash memory so it is retained on power cycle.
+     */
+    setHomeDirection(direction: Ge1GripperDirection, options?: GE1Gripper.SetHomeDirectionOptions): Promise<void>;
+    /**
+     * Enables or disables automatic homing on power up.
+     * @param enabled True to enable automatic homing on power up, false to disable.
+     * @param [options.saveToFlash=true] Save the auto home setting to flash memory so it is retained on power cycle.
+     */
+    setAutoHome(enabled: boolean, options?: GE1Gripper.SetAutoHomeOptions): Promise<void>;
+    /**
+     * Enables or disables IO control for the gripper.
+     * @param enabled True to enable IO control, false to disable.
+     * @param [options.saveToFlash=true] Save the IO enabled setting to flash memory so it is retained on power cycle.
+     */
+    setIoEnabled(enabled: boolean, options?: GE1Gripper.SetIoEnabledOptions): Promise<void>;
+    /**
+     * Sets the debounce filter time for the gripper IO input to suppress noise.
+     * @param duration The IO input filter time in milliseconds.
+     * @param [options.saveToFlash=true] Save the IO input filter setting to flash memory so it is retained on power cycle.
+     */
+    setIoInputFilter(duration: number, options?: GE1Gripper.SetIoInputFilterOptions): Promise<void>;
+    /**
+     * Saves a position, force, and speed as a preset.
+     * @param presetNumber The preset number to save the preset to, from 1 to 4.
+     * @param position The target position for the preset as a percentage, where 0 is closed and 100 is open.
+     * @param [options.force=100] The gripping force for the preset as a percentage from 20 to 100.
+     * @param [options.speed=100] The maximum speed for the preset as a percentage from 1 to 100.
+     * @param [options.saveToFlash=true] Save the preset to flash memory so it is retained on power cycle.
+     */
+    setPreset(presetNumber: number, position: number, options?: GE1Gripper.SetPresetOptions): Promise<void>;
+    /**
+     * Activates a preset, causing the gripper to move to the preset position using the preset force and speed.
+     * @param presetNumber The preset number to activate, from 1 to 4.
+     * @param [options.waitUntilIdle=true] Wait until the move has completed before returning.
+     */
+    activatePreset(presetNumber: number, options?: GE1Gripper.ActivatePresetOptions): Promise<void>;
+    /**
+     * Gets the preset number currently activated by the gripper IO input.
+     * @returns The current preset number activated by the gripper IO input.
+     */
+    getIoInputPresetNumber(): Promise<number>;
+    /**
+     * Frees the connection instance.
+     * @param connectionId Connection ID to be freed.
+     */
+    private static _free;
+    /**
+     * Releases the native resources of the ge 1 gripper.
+     * Should only be called if your environment does not support FinalizationRegistry.
+     * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry
+     */
+    free(): void;
+}
+declare namespace GE1Gripper {
+    interface OpenConnectionOptions {
+        /**
+         * The address of the gripper to connect to.
+         */
+        deviceAddress?: number;
+        /**
+         * The timeout in milliseconds for any request sent using this connection.
+         */
+        timeout?: number;
+    }
+    interface HomeOptions {
+        /**
+         * Wait until homing has completed before returning.
+         */
+        waitUntilIdle?: boolean;
+    }
+    interface MoveOptions {
+        /**
+         * Wait until the move has completed before returning.
+         */
+        waitUntilIdle?: boolean;
+    }
+    interface MoveOpenOptions {
+        /**
+         * Wait until the move has completed before returning.
+         */
+        waitUntilIdle?: boolean;
+    }
+    interface MoveCloseOptions {
+        /**
+         * Wait until the move has completed before returning.
+         */
+        waitUntilIdle?: boolean;
+    }
+    interface StopOptions {
+        /**
+         * Wait until the gripper has stopped before returning.
+         */
+        waitUntilIdle?: boolean;
+    }
+    interface CalibrateOptions {
+        /**
+         * Save the calibration results to flash memory so they are retained on power cycle.
+         */
+        saveToFlash?: boolean;
+    }
+    interface SetHomeDirectionOptions {
+        /**
+         * Save the home direction setting to flash memory so it is retained on power cycle.
+         */
+        saveToFlash?: boolean;
+    }
+    interface SetAutoHomeOptions {
+        /**
+         * Save the auto home setting to flash memory so it is retained on power cycle.
+         */
+        saveToFlash?: boolean;
+    }
+    interface SetIoEnabledOptions {
+        /**
+         * Save the IO enabled setting to flash memory so it is retained on power cycle.
+         */
+        saveToFlash?: boolean;
+    }
+    interface SetIoInputFilterOptions {
+        /**
+         * Save the IO input filter setting to flash memory so it is retained on power cycle.
+         */
+        saveToFlash?: boolean;
+    }
+    interface SetPresetOptions {
+        /**
+         * The gripping force for the preset as a percentage from 20 to 100.
+         */
+        force?: number;
+        /**
+         * The maximum speed for the preset as a percentage from 1 to 100.
+         */
+        speed?: number;
+        /**
+         * Save the preset to flash memory so it is retained on power cycle.
+         */
+        saveToFlash?: boolean;
+    }
+    interface ActivatePresetOptions {
+        /**
+         * Wait until the move has completed before returning.
+         */
+        waitUntilIdle?: boolean;
+    }
+}
+export {};
+//# sourceMappingURL=ge_1_gripper.d.ts.map

package/dist/lib/product/ge_1_gripper.d.ts.map

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