@zaber/motion 9.0.0 → 9.0.1

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

@@ -1 +1 @@
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package/dist/lib/ascii/pvt_set_all_analog_outputs_action.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.PvtSetAllAnalogOutputsAction = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const measurement_1 = require("../measurement");
 exports.PvtSetAllAnalogOutputsAction = {

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

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

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package/dist/lib/ascii/pvt_set_all_digital_outputs_action.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.PvtSetAllDigitalOutputsAction = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const digital_output_action_1 = require("../ascii/digital_output_action");

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

@@ -1 +1 @@
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package/dist/lib/ascii/pvt_set_analog_output_action.d.ts.map

@@ -1 +1 @@
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package/dist/lib/ascii/pvt_set_analog_output_action.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.PvtSetAnalogOutputAction = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const measurement_1 = require("../measurement");

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

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

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package/dist/lib/ascii/pvt_set_digital_output_action.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.PvtSetDigitalOutputAction = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const digital_output_action_1 = require("../ascii/digital_output_action");

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package/dist/lib/ascii/response.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.Response = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const message_type_1 = require("../ascii/message_type");

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Do not modify by hand. */\nimport { BSON } from 'bson';\nimport { sanitizer } from '../gateway/sanitizer';\nimport { MessageType } from '../ascii/message_type';\n\n/**\n * Response message from the device.\n */\nexport interface Response {\n  /**\n   * Number of the device that sent the message.\n   */\n  deviceAddress: number;\n\n  /**\n   * Number of the axis which the response applies to. Zero denotes device scope.\n   */\n  axisNumber: number;\n\n  /**\n   * The reply flag indicates if the request was accepted (OK) or rejected (RJ).\n   * Does not apply to info messages.\n   */\n  replyFlag: string;\n\n  /**\n   * The device status contains BUSY when the axis is moving and IDLE otherwise.\n   * Does not apply to info messages.\n   */\n  status: string;\n\n  /**\n   * The warning flag contains the highest priority warning currently active for the device or axis.\n   * Does not apply to info messages.\n   */\n  warningFlag: string;\n\n  /**\n   * Response data which varies depending on the request.\n   */\n  data: string;\n\n  /**\n   * Type of the response received (only Reply or Info).\n   */\n  messageType: MessageType;\n\n}\n\nexport const Response = {\n  fromBinary: (buffer: Uint8Array): Response => Response.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n\n  toBinary: (value: Response): Uint8Array => BSON.serialize(Response.sanitize(value)),\n\n  DEFAULT: Object.freeze({\n    deviceAddress: 0,\n    axisNumber: 0,\n    replyFlag: '',\n    status: '',\n    warningFlag: '',\n    data: '',\n    messageType: 0 as MessageType,\n  }) as Readonly<Response>,\n\n  sanitize: (value: Response): Response => {\n    if (value == null) { throw new TypeError('Expected Response object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected Response object but got ${typeof value}.`) }\n    return {\n      deviceAddress: sanitizer.sanitizeInt(value.deviceAddress, 'deviceAddress'),\n      axisNumber: sanitizer.sanitizeInt(value.axisNumber, 'axisNumber'),\n      replyFlag: sanitizer.sanitizeString(value.replyFlag, 'replyFlag'),\n      status: sanitizer.sanitizeString(value.status, 'status'),\n      warningFlag: sanitizer.sanitizeString(value.warningFlag, 'warningFlag'),\n      data: sanitizer.sanitizeString(value.data, 'data'),\n      messageType: sanitizer.sanitizeEnum(value.messageType, 'MessageType', MessageType, 'messageType'),\n    };\n  },\n\n  convert: (value: BSON.Document): Response => ({\n    deviceAddress: value.deviceAddress,\n    axisNumber: value.axisNumber,\n    replyFlag: value.replyFlag,\n    status: value.status,\n    warningFlag: value.warningFlag,\n    data: value.data,\n    messageType: value.messageType,\n  }),\n\n  isA: (value: any): value is Response => {\n    const castValue = value as Response;\n    return (\n      value != null &&\n      typeof value === 'object' &&\n      sanitizer.isInt(castValue.deviceAddress) &&\n      sanitizer.isInt(castValue.axisNumber) &&\n      sanitizer.isString(castValue.replyFlag) &&\n      sanitizer.isString(castValue.status) &&\n      sanitizer.isString(castValue.warningFlag) &&\n      sanitizer.isString(castValue.data) &&\n      sanitizer.isEnum(castValue.messageType, MessageType)\n    );\n  },\n};\n"]}
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Zero denotes device scope.\n   */\n  axisNumber: number;\n\n  /**\n   * The reply flag indicates if the request was accepted (OK) or rejected (RJ).\n   * Does not apply to info messages.\n   */\n  replyFlag: string;\n\n  /**\n   * The device status contains BUSY when the axis is moving and IDLE otherwise.\n   * Does not apply to info messages.\n   */\n  status: string;\n\n  /**\n   * The warning flag contains the highest priority warning currently active for the device or axis.\n   * Does not apply to info messages.\n   */\n  warningFlag: string;\n\n  /**\n   * Response data which varies depending on the request.\n   */\n  data: string;\n\n  /**\n   * Type of the response received (only Reply or Info).\n   */\n  messageType: MessageType;\n\n}\n\nexport const Response = {\n  fromBinary: (buffer: Uint8Array): Response => Response.convert(BSON.deserialize(buffer, { useBigInt64: true })),\n\n  toBinary: (value: Response): Uint8Array => BSON.serialize(Response.sanitize(value)),\n\n  DEFAULT: Object.freeze({\n    deviceAddress: 0,\n    axisNumber: 0,\n    replyFlag: '',\n    status: '',\n    warningFlag: '',\n    data: '',\n    messageType: 0 as MessageType,\n  }) as Readonly<Response>,\n\n  sanitize: (value: Response): Response => {\n    if (value == null) { throw new TypeError('Expected Response object but got null or undefined.') }\n    if (typeof value !== 'object') { throw new TypeError(`Expected Response object but got ${typeof value}.`) }\n    return {\n      deviceAddress: sanitizer.sanitizeInt(value.deviceAddress, 'deviceAddress'),\n      axisNumber: sanitizer.sanitizeInt(value.axisNumber, 'axisNumber'),\n      replyFlag: sanitizer.sanitizeString(value.replyFlag, 'replyFlag'),\n      status: sanitizer.sanitizeString(value.status, 'status'),\n      warningFlag: sanitizer.sanitizeString(value.warningFlag, 'warningFlag'),\n      data: sanitizer.sanitizeString(value.data, 'data'),\n      messageType: sanitizer.sanitizeEnum(value.messageType, 'MessageType', MessageType, 'messageType'),\n    };\n  },\n\n  convert: (value: BSON.Document): Response => ({\n    deviceAddress: value.deviceAddress,\n    axisNumber: value.axisNumber,\n    replyFlag: value.replyFlag,\n    status: value.status,\n    warningFlag: value.warningFlag,\n    data: value.data,\n    messageType: value.messageType,\n  }),\n\n  isA: (value: any): value is Response => {\n    const castValue = value as Response;\n    return (\n      value != null &&\n      typeof value === 'object' &&\n      sanitizer.isInt(castValue.deviceAddress) &&\n      sanitizer.isInt(castValue.axisNumber) &&\n      sanitizer.isString(castValue.replyFlag) &&\n      sanitizer.isString(castValue.status) &&\n      sanitizer.isString(castValue.warningFlag) &&\n      sanitizer.isString(castValue.data) &&\n      sanitizer.isEnum(castValue.messageType, MessageType)\n    );\n  },\n};\n"]}

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

@@ -89,6 +89,7 @@ export declare class ServoTuner {
      * @param [options.motorInertia=null] The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,
      * this is in units of kg⋅m².
      * @param [options.motorInertiaUnits=Units.NATIVE] The units the motor inertia was supplied in.
+     * @param [options.enableFeedForward=true] Whether to enable the inertial feed-forward term.
      */
     setSimpleTuning(paramset: ServoTuningParamset, tuningParams: ServoTuningParam[], loadInertia: number, options?: ServoTuner.SetSimpleTuningOptions): Promise<void>;
     /**
@@ -123,6 +124,10 @@ declare namespace ServoTuner {
          * The units the motor inertia was supplied in.
          */
         motorInertiaUnits?: Units;
+        /**
+         * Whether to enable the inertial feed-forward term.
+         */
+        enableFeedForward?: boolean;
     }
 }
 export {};

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

@@ -1 +1 @@
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package/dist/lib/ascii/servo_tuner.js

@@ -1,6 +1,6 @@
 "use strict";
-// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
-// ============= DO NOT EDIT DIRECTLY ============= //
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
     if (k2 === undefined) k2 = k;
     var desc = Object.getOwnPropertyDescriptor(m, k);
@@ -224,9 +224,10 @@ class ServoTuner {
      * @param [options.motorInertia=null] The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,
      * this is in units of kg⋅m².
      * @param [options.motorInertiaUnits=Units.NATIVE] The units the motor inertia was supplied in.
+     * @param [options.enableFeedForward=true] Whether to enable the inertial feed-forward term.
      */
     async setSimpleTuning(paramset, tuningParams, loadInertia, options = {}) {
-        const { loadInertiaUnits = units_1.Units.NATIVE, carriageInertia = null, carriageInertiaUnits = units_1.Units.NATIVE, motorInertia = null, motorInertiaUnits = units_1.Units.NATIVE, } = options;
+        const { loadInertiaUnits = units_1.Units.NATIVE, carriageInertia = null, carriageInertiaUnits = units_1.Units.NATIVE, motorInertia = null, motorInertiaUnits = units_1.Units.NATIVE, enableFeedForward = true, } = options;
         const request = {
             ...requests.SetSimpleTuning.DEFAULT,
             interfaceId: this.axis.device.connection.interfaceId,
@@ -240,6 +241,7 @@ class ServoTuner {
             carriageInertiaUnits: carriageInertiaUnits,
             motorInertia: motorInertia,
             motorInertiaUnits: motorInertiaUnits,
+            enableFeedForward: enableFeedForward,
             toBinary() {
                 return requests.SetSimpleTuning.toBinary(this);
             },

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

@@ -1 +1 @@
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==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //\n// ============= DO NOT EDIT DIRECTLY ============= //\n\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Units } from '../units';\nimport { Axis } from './axis';\nimport { ParamsetInfo } from './paramset_info';\nimport { PidTuning } from './pid_tuning';\nimport { ServoTuningParam } from './servo_tuning_param';\nimport { ServoTuningParamset } from './servo_tuning_paramset';\nimport { SimpleTuning } from './simple_tuning';\nimport { SimpleTuningParamDefinition } from './simple_tuning_param_definition';\n\n/**\n * Exposes the capabilities to inspect and edit an axis' servo tuning.\n * Requires at least Firmware 6.25 or 7.00.\n */\nexport class ServoTuner {\n  /**\n   * The axis that will be tuned.\n   */\n  public get axis(): Axis {\n    return this._axis;\n  }\n  private _axis: Axis;\n\n  /**\n   * Creates instance of ServoTuner for the given axis.\n   */\n  constructor(axis: Axis) {\n    this._axis = axis;\n  }\n\n  /**\n   * Get the paramset that this device uses by default when it starts up.\n   * @returns The paramset used when the device restarts.\n   */\n  public async getStartupParamset(): Promise<ServoTuningParamset> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.ServoTuningParamsetResponse>(\n      'servotuning/get_startup_set',\n      request,\n      requests.ServoTuningParamsetResponse.fromBinary);\n    return response.paramset;\n  }\n\n  /**\n   * Set the paramset that this device uses by default when it starts up.\n   * @param paramset The paramset to use at startup.\n   */\n  public async setStartupParamset(\n    paramset: ServoTuningParamset\n  ): Promise<void> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_startup_set', request);\n  }\n\n  /**\n   * Load the values from one paramset into another.\n   * @param toParamset The paramset to load into.\n   * @param fromParamset The paramset to load from.\n   */\n  public async loadParamset(\n    toParamset: ServoTuningParamset,\n    fromParamset: ServoTuningParamset\n  ): Promise<void> {\n    const request: requests.LoadParamset & gateway.Message = {\n      ...requests.LoadParamset.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toParamset: toParamset,\n      fromParamset: fromParamset,\n      toBinary() {\n        return requests.LoadParamset.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/load_paramset', request);\n  }\n\n  /**\n   * Get the full set of tuning parameters used by the firmware driving this axis.\n   * @param paramset The paramset to get tuning for.\n   * @returns The raw representation of the current tuning.\n   */\n  public async getTuning(\n    paramset: ServoTuningParamset\n  ): Promise<ParamsetInfo> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<ParamsetInfo>(\n      'servotuning/get_raw',\n      request,\n      ParamsetInfo.fromBinary);\n    return response;\n  }\n\n  /**\n   * Set individual tuning parameters.\n   * Only use this method if you have a strong understanding of Zaber specific tuning parameters.\n   * @param paramset The paramset to set tuning of.\n   * @param tuningParams The params to set.\n   * @param [setUnspecifiedToDefault=false] If true, any tuning parameters not included in TuningParams\n   * are reset to their default values.\n   */\n  public async setTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    setUnspecifiedToDefault: boolean = false\n  ): Promise<void> {\n    const request: requests.SetServoTuningRequest & gateway.Message = {\n      ...requests.SetServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      tuningParams: tuningParams,\n      setUnspecifiedToDefault: setUnspecifiedToDefault,\n      toBinary() {\n        return requests.SetServoTuningRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_raw', request);\n  }\n\n  /**\n   * Sets the tuning of a paramset using the PID method.\n   * @param paramset The paramset to get tuning for.\n   * @param p The proportional gain. Must be in units of N/m for linear devices, and N⋅m/° for rotary devices.\n   * @param i The integral gain. Must be in units of N/(m⋅s) for linear devices, and N⋅m/(°⋅s) for rotary devices.\n   * @param d The derivative gain. Must be in units of N⋅s/m for linear devices, and N⋅m⋅s/° for rotary devices.\n   * @param fc The cutoff frequency. Must be in units of Hz.\n   * @returns The PID representation of the current tuning after your changes have been applied.\n   */\n  public async setPidTuning(\n    paramset: ServoTuningParamset,\n    p: number,\n    i: number,\n    d: number,\n    fc: number\n  ): Promise<PidTuning> {\n    const request: requests.SetServoTuningPIDRequest & gateway.Message = {\n      ...requests.SetServoTuningPIDRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      p: p,\n      i: i,\n      d: d,\n      fc: fc,\n      toBinary() {\n        return requests.SetServoTuningPIDRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PidTuning>(\n      'servotuning/set_pid',\n      request,\n      PidTuning.fromBinary);\n    return response;\n  }\n\n  /**\n   * Gets the PID representation of this paramset's servo tuning.\n   * @param paramset The paramset to get tuning for.\n   * @returns The PID representation of the current tuning.\n   */\n  public async getPidTuning(\n    paramset: ServoTuningParamset\n  ): Promise<PidTuning> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PidTuning>(\n      'servotuning/get_pid',\n      request,\n      PidTuning.fromBinary);\n    return response;\n  }\n\n  /**\n   * Gets the parameters that are required to tune this device.\n   * @returns The tuning parameters.\n   */\n  public async getSimpleTuningParamDefinitions(): Promise<SimpleTuningParamDefinition[]> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.GetSimpleTuningParamDefinitionResponse>(\n      'servotuning/get_simple_params_definition',\n      request,\n      requests.GetSimpleTuningParamDefinitionResponse.fromBinary);\n    return response.params;\n  }\n\n  /**\n   * Set the tuning of this device using the simple input method.\n   * @param paramset The paramset to set tuning for.\n   * @param tuningParams The params used to tune this device.\n   * To get what parameters are expected, call GetSimpleTuningParamList.\n   * All values must be between 0 and 1.\n   * @param loadInertia The mass loaded on the stage, excluding the mass of the carriage itself.\n   * Unless specified by the LoadInertiaUnits parameter, this is in units of kg for linear devices,\n   * and kg⋅m² for rotary devices.\n   * @param [options.loadInertiaUnits=Units.NATIVE] The units the load mass was supplied in.\n   * @param [options.carriageInertia=null] The mass of the carriage itself. If not supplied, the product's default mass will be used.\n   * Unless specified by the CarriageInertiaUnits parameter, this is in units of kg for linear devices,\n   * and kg⋅m² for rotary devices.\n   * @param [options.carriageInertiaUnits=Units.NATIVE] The units the carriage mass was supplied in.\n   * @param [options.motorInertia=null] The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,\n   * this is in units of kg⋅m².\n   * @param [options.motorInertiaUnits=Units.NATIVE] The units the motor inertia was supplied in.\n   */\n  public async setSimpleTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    loadInertia: number,\n    options: ServoTuner.SetSimpleTuningOptions = {}\n  ): Promise<void> {\n    const {\n      loadInertiaUnits = Units.NATIVE,\n      carriageInertia = null,\n      carriageInertiaUnits = Units.NATIVE,\n      motorInertia = null,\n      motorInertiaUnits = Units.NATIVE,\n    } = options;\n    const request: requests.SetSimpleTuning & gateway.Message = {\n      ...requests.SetSimpleTuning.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      tuningParams: tuningParams,\n      loadInertia: loadInertia,\n      loadInertiaUnits: loadInertiaUnits,\n      carriageInertia: carriageInertia,\n      carriageInertiaUnits: carriageInertiaUnits,\n      motorInertia: motorInertia,\n      motorInertiaUnits: motorInertiaUnits,\n      toBinary() {\n        return requests.SetSimpleTuning.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_simple_tuning', request);\n  }\n\n  /**\n   * Get the simple tuning parameters for this device.\n   * @param paramset The paramset to get tuning for.\n   * @returns The simple tuning parameters.\n   */\n  public async getSimpleTuning(\n    paramset: ServoTuningParamset\n  ): Promise<SimpleTuning> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<SimpleTuning>(\n      'servotuning/get_simple_tuning',\n      request,\n      SimpleTuning.fromBinary);\n    return response;\n  }\n}\n\nnamespace ServoTuner {\n  export interface SetSimpleTuningOptions {\n      /**\n       * The units the load mass was supplied in.\n       */\n      loadInertiaUnits?: Units;\n      /**\n       * The mass of the carriage itself. If not supplied, the product's default mass will be used.\n       * Unless specified by the CarriageInertiaUnits parameter, this is in units of kg for linear devices,\n       * and kg⋅m² for rotary devices.\n       */\n      carriageInertia?: number;\n      /**\n       * The units the carriage mass was supplied in.\n       */\n      carriageInertiaUnits?: Units;\n      /**\n       * The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,\n       * this is in units of kg⋅m².\n       */\n      motorInertia?: number;\n      /**\n       * The units the motor inertia was supplied in.\n       */\n      motorInertiaUnits?: Units;\n  }\n}\n"]}
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===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //\n// ============== DO NOT EDIT DIRECTLY ============== //\n\nimport * as gateway from '../gateway';\nimport * as requests from '../requests';\nimport { Units } from '../units';\nimport { Axis } from './axis';\nimport { ParamsetInfo } from './paramset_info';\nimport { PidTuning } from './pid_tuning';\nimport { ServoTuningParam } from './servo_tuning_param';\nimport { ServoTuningParamset } from './servo_tuning_paramset';\nimport { SimpleTuning } from './simple_tuning';\nimport { SimpleTuningParamDefinition } from './simple_tuning_param_definition';\n\n/**\n * Exposes the capabilities to inspect and edit an axis' servo tuning.\n * Requires at least Firmware 6.25 or 7.00.\n */\nexport class ServoTuner {\n  /**\n   * The axis that will be tuned.\n   */\n  public get axis(): Axis {\n    return this._axis;\n  }\n  private _axis: Axis;\n\n  /**\n   * Creates instance of ServoTuner for the given axis.\n   */\n  constructor(axis: Axis) {\n    this._axis = axis;\n  }\n\n  /**\n   * Get the paramset that this device uses by default when it starts up.\n   * @returns The paramset used when the device restarts.\n   */\n  public async getStartupParamset(): Promise<ServoTuningParamset> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.ServoTuningParamsetResponse>(\n      'servotuning/get_startup_set',\n      request,\n      requests.ServoTuningParamsetResponse.fromBinary);\n    return response.paramset;\n  }\n\n  /**\n   * Set the paramset that this device uses by default when it starts up.\n   * @param paramset The paramset to use at startup.\n   */\n  public async setStartupParamset(\n    paramset: ServoTuningParamset\n  ): Promise<void> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_startup_set', request);\n  }\n\n  /**\n   * Load the values from one paramset into another.\n   * @param toParamset The paramset to load into.\n   * @param fromParamset The paramset to load from.\n   */\n  public async loadParamset(\n    toParamset: ServoTuningParamset,\n    fromParamset: ServoTuningParamset\n  ): Promise<void> {\n    const request: requests.LoadParamset & gateway.Message = {\n      ...requests.LoadParamset.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toParamset: toParamset,\n      fromParamset: fromParamset,\n      toBinary() {\n        return requests.LoadParamset.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/load_paramset', request);\n  }\n\n  /**\n   * Get the full set of tuning parameters used by the firmware driving this axis.\n   * @param paramset The paramset to get tuning for.\n   * @returns The raw representation of the current tuning.\n   */\n  public async getTuning(\n    paramset: ServoTuningParamset\n  ): Promise<ParamsetInfo> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<ParamsetInfo>(\n      'servotuning/get_raw',\n      request,\n      ParamsetInfo.fromBinary);\n    return response;\n  }\n\n  /**\n   * Set individual tuning parameters.\n   * Only use this method if you have a strong understanding of Zaber specific tuning parameters.\n   * @param paramset The paramset to set tuning of.\n   * @param tuningParams The params to set.\n   * @param [setUnspecifiedToDefault=false] If true, any tuning parameters not included in TuningParams\n   * are reset to their default values.\n   */\n  public async setTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    setUnspecifiedToDefault: boolean = false\n  ): Promise<void> {\n    const request: requests.SetServoTuningRequest & gateway.Message = {\n      ...requests.SetServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      tuningParams: tuningParams,\n      setUnspecifiedToDefault: setUnspecifiedToDefault,\n      toBinary() {\n        return requests.SetServoTuningRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_raw', request);\n  }\n\n  /**\n   * Sets the tuning of a paramset using the PID method.\n   * @param paramset The paramset to get tuning for.\n   * @param p The proportional gain. Must be in units of N/m for linear devices, and N⋅m/° for rotary devices.\n   * @param i The integral gain. Must be in units of N/(m⋅s) for linear devices, and N⋅m/(°⋅s) for rotary devices.\n   * @param d The derivative gain. Must be in units of N⋅s/m for linear devices, and N⋅m⋅s/° for rotary devices.\n   * @param fc The cutoff frequency. Must be in units of Hz.\n   * @returns The PID representation of the current tuning after your changes have been applied.\n   */\n  public async setPidTuning(\n    paramset: ServoTuningParamset,\n    p: number,\n    i: number,\n    d: number,\n    fc: number\n  ): Promise<PidTuning> {\n    const request: requests.SetServoTuningPIDRequest & gateway.Message = {\n      ...requests.SetServoTuningPIDRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      p: p,\n      i: i,\n      d: d,\n      fc: fc,\n      toBinary() {\n        return requests.SetServoTuningPIDRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PidTuning>(\n      'servotuning/set_pid',\n      request,\n      PidTuning.fromBinary);\n    return response;\n  }\n\n  /**\n   * Gets the PID representation of this paramset's servo tuning.\n   * @param paramset The paramset to get tuning for.\n   * @returns The PID representation of the current tuning.\n   */\n  public async getPidTuning(\n    paramset: ServoTuningParamset\n  ): Promise<PidTuning> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<PidTuning>(\n      'servotuning/get_pid',\n      request,\n      PidTuning.fromBinary);\n    return response;\n  }\n\n  /**\n   * Gets the parameters that are required to tune this device.\n   * @returns The tuning parameters.\n   */\n  public async getSimpleTuningParamDefinitions(): Promise<SimpleTuningParamDefinition[]> {\n    const request: requests.AxisEmptyRequest & gateway.Message = {\n      ...requests.AxisEmptyRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      toBinary() {\n        return requests.AxisEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.GetSimpleTuningParamDefinitionResponse>(\n      'servotuning/get_simple_params_definition',\n      request,\n      requests.GetSimpleTuningParamDefinitionResponse.fromBinary);\n    return response.params;\n  }\n\n  /**\n   * Set the tuning of this device using the simple input method.\n   * @param paramset The paramset to set tuning for.\n   * @param tuningParams The params used to tune this device.\n   * To get what parameters are expected, call GetSimpleTuningParamList.\n   * All values must be between 0 and 1.\n   * @param loadInertia The mass loaded on the stage, excluding the mass of the carriage itself.\n   * Unless specified by the LoadInertiaUnits parameter, this is in units of kg for linear devices,\n   * and kg⋅m² for rotary devices.\n   * @param [options.loadInertiaUnits=Units.NATIVE] The units the load mass was supplied in.\n   * @param [options.carriageInertia=null] The mass of the carriage itself. If not supplied, the product's default mass will be used.\n   * Unless specified by the CarriageInertiaUnits parameter, this is in units of kg for linear devices,\n   * and kg⋅m² for rotary devices.\n   * @param [options.carriageInertiaUnits=Units.NATIVE] The units the carriage mass was supplied in.\n   * @param [options.motorInertia=null] The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,\n   * this is in units of kg⋅m².\n   * @param [options.motorInertiaUnits=Units.NATIVE] The units the motor inertia was supplied in.\n   * @param [options.enableFeedForward=true] Whether to enable the inertial feed-forward term.\n   */\n  public async setSimpleTuning(\n    paramset: ServoTuningParamset,\n    tuningParams: ServoTuningParam[],\n    loadInertia: number,\n    options: ServoTuner.SetSimpleTuningOptions = {}\n  ): Promise<void> {\n    const {\n      loadInertiaUnits = Units.NATIVE,\n      carriageInertia = null,\n      carriageInertiaUnits = Units.NATIVE,\n      motorInertia = null,\n      motorInertiaUnits = Units.NATIVE,\n      enableFeedForward = true,\n    } = options;\n    const request: requests.SetSimpleTuning & gateway.Message = {\n      ...requests.SetSimpleTuning.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      tuningParams: tuningParams,\n      loadInertia: loadInertia,\n      loadInertiaUnits: loadInertiaUnits,\n      carriageInertia: carriageInertia,\n      carriageInertiaUnits: carriageInertiaUnits,\n      motorInertia: motorInertia,\n      motorInertiaUnits: motorInertiaUnits,\n      enableFeedForward: enableFeedForward,\n      toBinary() {\n        return requests.SetSimpleTuning.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('servotuning/set_simple_tuning', request);\n  }\n\n  /**\n   * Get the simple tuning parameters for this device.\n   * @param paramset The paramset to get tuning for.\n   * @returns The simple tuning parameters.\n   */\n  public async getSimpleTuning(\n    paramset: ServoTuningParamset\n  ): Promise<SimpleTuning> {\n    const request: requests.ServoTuningRequest & gateway.Message = {\n      ...requests.ServoTuningRequest.DEFAULT,\n      interfaceId: this.axis.device.connection.interfaceId,\n      device: this.axis.device.deviceAddress,\n      axis: this.axis.axisNumber,\n      paramset: paramset,\n      toBinary() {\n        return requests.ServoTuningRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<SimpleTuning>(\n      'servotuning/get_simple_tuning',\n      request,\n      SimpleTuning.fromBinary);\n    return response;\n  }\n}\n\nnamespace ServoTuner {\n  export interface SetSimpleTuningOptions {\n      /**\n       * The units the load mass was supplied in.\n       */\n      loadInertiaUnits?: Units;\n      /**\n       * The mass of the carriage itself. If not supplied, the product's default mass will be used.\n       * Unless specified by the CarriageInertiaUnits parameter, this is in units of kg for linear devices,\n       * and kg⋅m² for rotary devices.\n       */\n      carriageInertia?: number;\n      /**\n       * The units the carriage mass was supplied in.\n       */\n      carriageInertiaUnits?: Units;\n      /**\n       * The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,\n       * this is in units of kg⋅m².\n       */\n      motorInertia?: number;\n      /**\n       * The units the motor inertia was supplied in.\n       */\n      motorInertiaUnits?: Units;\n      /**\n       * Whether to enable the inertial feed-forward term.\n       */\n      enableFeedForward?: boolean;\n  }\n}\n"]}

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

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package/dist/lib/ascii/servo_tuning_param.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.ServoTuningParam = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 exports.ServoTuningParam = {

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

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package/dist/lib/ascii/servo_tuning_paramset.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.isServoTuningParamset = exports.ServoTuningParamset = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 /**
  * Servo Tuning Parameter Set to target.
  */

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

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

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package/dist/lib/ascii/set_state_axis_response.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.SetStateAxisResponse = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 exports.SetStateAxisResponse = {

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

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

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package/dist/lib/ascii/set_state_device_response.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.SetStateDeviceResponse = void 0;
-/* This file is generated. Do not modify by hand. */
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 const bson_1 = require("bson");
 const sanitizer_1 = require("../gateway/sanitizer");
 const set_state_axis_response_1 = require("../ascii/set_state_axis_response");

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

@@ -1 +1 @@
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package/dist/lib/ascii/setting_constants.js

@@ -1,6 +1,6 @@
 "use strict";
-// ==== THIS FILE IS GENERATED FROM A TEMPLATE ==== //
-// ============= DO NOT EDIT DIRECTLY ============= //
+// ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== //
+// ============== DO NOT EDIT DIRECTLY ============== //
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.SettingConstants = void 0;
 /**