@zaber/motion 9.0.1 → 9.1.0

package/dist/lib/product/{ge_1_gripper.js → ge_1_x_gripper.js}

@@ -25,14 +25,14 @@ var __importStar = (this && this.__importStar) || function (mod) {
     return result;
 };
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.GE1Gripper = void 0;
+exports.Ge1xGripper = void 0;
 const gateway = __importStar(require("../gateway"));
 const requests = __importStar(require("../requests"));
 const finalizer_1 = require("../finalizer");
 /**
  * Class representing a gripper in the GE1x series.
  */
-class GE1Gripper {
+class Ge1xGripper {
     /**
      * The identifier for the connection.
      */
@@ -41,41 +41,41 @@ class GE1Gripper {
     }
     constructor(connectionId) {
         this._connectionId = connectionId;
-        (0, finalizer_1.registerForFinalization)(this, GE1Gripper._free.bind(null, connectionId));
+        (0, finalizer_1.registerForFinalization)(this, Ge1xGripper._free.bind(null, connectionId));
     }
     /**
      * 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.deviceAddress=Ge1xGripper.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.
+     * @returns A Ge1xGripper instance representing the connection to the gripper.
      */
     static async openConnection(portName, options = {}) {
-        const { deviceAddress = GE1Gripper.DEFAULT_DEVICE_ADDRESS, timeout = 500, } = options;
+        const { deviceAddress = Ge1xGripper.DEFAULT_DEVICE_ADDRESS, timeout = 500, } = options;
         const request = {
-            ...requests.Ge1GripperOpenConnectionRequest.DEFAULT,
+            ...requests.Ge1xGripperOpenConnectionRequest.DEFAULT,
             portName: portName,
             deviceAddress: deviceAddress,
             timeout: timeout,
             toBinary() {
-                return requests.Ge1GripperOpenConnectionRequest.toBinary(this);
+                return requests.Ge1xGripperOpenConnectionRequest.toBinary(this);
             },
         };
-        const response = await gateway.callAsync('ge1_gripper/open_connection', request, requests.IntResponse.fromBinary);
-        return new GE1Gripper(response.value);
+        const response = await gateway.callAsync('ge1x_gripper/open_connection', request, requests.IntResponse.fromBinary);
+        return new Ge1xGripper(response.value);
     }
     /**
      * Closes the connection to the gripper.
      */
     async close() {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: this.connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/close_connection', request);
+        await gateway.callAsync('ge1x_gripper/close_connection', request);
     }
     /**
      * Reads a single register value from the gripper.
@@ -84,14 +84,14 @@ class GE1Gripper {
      */
     async readRegister(registerAddress) {
         const request = {
-            ...requests.Ge1GripperReadRegisterRequest.DEFAULT,
+            ...requests.Ge1xGripperReadRegisterRequest.DEFAULT,
             connectionId: this.connectionId,
             registerAddress: registerAddress,
             toBinary() {
-                return requests.Ge1GripperReadRegisterRequest.toBinary(this);
+                return requests.Ge1xGripperReadRegisterRequest.toBinary(this);
             },
         };
-        const response = await gateway.callAsync('ge1_gripper/read_register', request, requests.IntResponse.fromBinary);
+        const response = await gateway.callAsync('ge1x_gripper/read_register', request, requests.IntResponse.fromBinary);
         return response.value;
     }
     /**
@@ -101,15 +101,15 @@ class GE1Gripper {
      */
     async writeRegister(registerAddress, data) {
         const request = {
-            ...requests.Ge1GripperWriteRegisterRequest.DEFAULT,
+            ...requests.Ge1xGripperWriteRegisterRequest.DEFAULT,
             connectionId: this.connectionId,
             registerAddress: registerAddress,
             data: data,
             toBinary() {
-                return requests.Ge1GripperWriteRegisterRequest.toBinary(this);
+                return requests.Ge1xGripperWriteRegisterRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/write_register', request);
+        await gateway.callAsync('ge1x_gripper/write_register', request);
     }
     /**
      * Homes gripper by moving it to its homing position.
@@ -118,27 +118,27 @@ class GE1Gripper {
     async home(options = {}) {
         const { waitUntilIdle = true, } = options;
         const request = {
-            ...requests.Ge1GripperWaitUntilIdleRequest.DEFAULT,
+            ...requests.Ge1xGripperWaitUntilIdleRequest.DEFAULT,
             connectionId: this.connectionId,
             waitUntilIdle: waitUntilIdle,
             toBinary() {
-                return requests.Ge1GripperWaitUntilIdleRequest.toBinary(this);
+                return requests.Ge1xGripperWaitUntilIdleRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/home', request);
+        await gateway.callAsync('ge1x_gripper/home', request);
     }
     /**
      * Waits until the gripper has stopped moving.
      */
     async waitUntilIdle() {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: this.connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/wait_until_idle', request);
+        await gateway.callAsync('ge1x_gripper/wait_until_idle', request);
     }
     /**
      * Moves the gripper to a specified position.
@@ -148,15 +148,15 @@ class GE1Gripper {
     async move(position, options = {}) {
         const { waitUntilIdle = true, } = options;
         const request = {
-            ...requests.Ge1GripperMoveRequest.DEFAULT,
+            ...requests.Ge1xGripperMoveRequest.DEFAULT,
             connectionId: this.connectionId,
             position: position,
             waitUntilIdle: waitUntilIdle,
             toBinary() {
-                return requests.Ge1GripperMoveRequest.toBinary(this);
+                return requests.Ge1xGripperMoveRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/move', request);
+        await gateway.callAsync('ge1x_gripper/move', request);
     }
     /**
      * Moves the gripper to the open position.
@@ -165,15 +165,15 @@ class GE1Gripper {
     async moveOpen(options = {}) {
         const { waitUntilIdle = true, } = options;
         const request = {
-            ...requests.Ge1GripperMoveRequest.DEFAULT,
+            ...requests.Ge1xGripperMoveRequest.DEFAULT,
             connectionId: this.connectionId,
             position: 100,
             waitUntilIdle: waitUntilIdle,
             toBinary() {
-                return requests.Ge1GripperMoveRequest.toBinary(this);
+                return requests.Ge1xGripperMoveRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/move', request);
+        await gateway.callAsync('ge1x_gripper/move', request);
     }
     /**
      * Moves the gripper to the closed position.
@@ -182,15 +182,15 @@ class GE1Gripper {
     async moveClose(options = {}) {
         const { waitUntilIdle = true, } = options;
         const request = {
-            ...requests.Ge1GripperMoveRequest.DEFAULT,
+            ...requests.Ge1xGripperMoveRequest.DEFAULT,
             connectionId: this.connectionId,
             position: 0,
             waitUntilIdle: waitUntilIdle,
             toBinary() {
-                return requests.Ge1GripperMoveRequest.toBinary(this);
+                return requests.Ge1xGripperMoveRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/move', request);
+        await gateway.callAsync('ge1x_gripper/move', request);
     }
     /**
      * Stops the gripper from moving.
@@ -199,14 +199,14 @@ class GE1Gripper {
     async stop(options = {}) {
         const { waitUntilIdle = true, } = options;
         const request = {
-            ...requests.Ge1GripperWaitUntilIdleRequest.DEFAULT,
+            ...requests.Ge1xGripperWaitUntilIdleRequest.DEFAULT,
             connectionId: this.connectionId,
             waitUntilIdle: waitUntilIdle,
             toBinary() {
-                return requests.Ge1GripperWaitUntilIdleRequest.toBinary(this);
+                return requests.Ge1xGripperWaitUntilIdleRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/stop', request);
+        await gateway.callAsync('ge1x_gripper/stop', request);
     }
     /**
      * Sets the gripping force of the gripper.
@@ -214,14 +214,14 @@ class GE1Gripper {
      */
     async setForce(force) {
         const request = {
-            ...requests.Ge1GripperSetForceRequest.DEFAULT,
+            ...requests.Ge1xGripperSetForceRequest.DEFAULT,
             connectionId: this.connectionId,
             force: force,
             toBinary() {
-                return requests.Ge1GripperSetForceRequest.toBinary(this);
+                return requests.Ge1xGripperSetForceRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/set_force', request);
+        await gateway.callAsync('ge1x_gripper/set_force', request);
     }
     /**
      * Sets the maximum speed of the gripper.
@@ -229,40 +229,40 @@ class GE1Gripper {
      */
     async setSpeed(speed) {
         const request = {
-            ...requests.Ge1GripperSetSpeedRequest.DEFAULT,
+            ...requests.Ge1xGripperSetSpeedRequest.DEFAULT,
             connectionId: this.connectionId,
             speed: speed,
             toBinary() {
-                return requests.Ge1GripperSetSpeedRequest.toBinary(this);
+                return requests.Ge1xGripperSetSpeedRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/set_speed', request);
+        await gateway.callAsync('ge1x_gripper/set_speed', request);
     }
     /**
      * Enables the gripper driver.
      */
     async driverEnable() {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: this.connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/driver_enable', request);
+        await gateway.callAsync('ge1x_gripper/driver_enable', request);
     }
     /**
      * Disables the gripper driver.
      */
     async driverDisable() {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: this.connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/driver_disable', request);
+        await gateway.callAsync('ge1x_gripper/driver_disable', request);
     }
     /**
      * Performs a calibration of the travel range by moving to the fully open and fully closed positions.
@@ -271,14 +271,14 @@ class GE1Gripper {
     async calibrate(options = {}) {
         const { saveToFlash = true, } = options;
         const request = {
-            ...requests.Ge1GripperCalibrateRequest.DEFAULT,
+            ...requests.Ge1xGripperCalibrateRequest.DEFAULT,
             connectionId: this.connectionId,
             saveToFlash: saveToFlash,
             toBinary() {
-                return requests.Ge1GripperCalibrateRequest.toBinary(this);
+                return requests.Ge1xGripperCalibrateRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/calibrate', request);
+        await gateway.callAsync('ge1x_gripper/calibrate', request);
     }
     /**
      * Gets the current state of the gripper.
@@ -286,13 +286,13 @@ class GE1Gripper {
      */
     async getState() {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: this.connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        const response = await gateway.callAsync('ge1_gripper/get_state', request, requests.Ge1GripperGetStateResponse.fromBinary);
+        const response = await gateway.callAsync('ge1x_gripper/get_state', request, requests.Ge1xGripperGetStateResponse.fromBinary);
         return response.value;
     }
     /**
@@ -301,13 +301,13 @@ class GE1Gripper {
      */
     async getError() {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: this.connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        const response = await gateway.callAsync('ge1_gripper/get_error', request, requests.Ge1GripperGetErrorResponse.fromBinary);
+        const response = await gateway.callAsync('ge1x_gripper/get_error', request, requests.Ge1xGripperGetErrorResponse.fromBinary);
         return response.value;
     }
     /**
@@ -315,13 +315,13 @@ class GE1Gripper {
      */
     async clearError() {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: this.connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/clear_error', request);
+        await gateway.callAsync('ge1x_gripper/clear_error', request);
     }
     /**
      * Checks if the gripper has been homed.
@@ -329,13 +329,13 @@ class GE1Gripper {
      */
     async isHomed() {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: this.connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        const response = await gateway.callAsync('ge1_gripper/is_homed', request, requests.BoolResponse.fromBinary);
+        const response = await gateway.callAsync('ge1x_gripper/is_homed', request, requests.BoolResponse.fromBinary);
         return response.value;
     }
     /**
@@ -344,13 +344,13 @@ class GE1Gripper {
      */
     async getPosition() {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: this.connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        const response = await gateway.callAsync('ge1_gripper/get_position', request, requests.DoubleResponse.fromBinary);
+        const response = await gateway.callAsync('ge1x_gripper/get_position', request, requests.DoubleResponse.fromBinary);
         return response.value;
     }
     /**
@@ -359,13 +359,13 @@ class GE1Gripper {
      */
     async getCurrent() {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: this.connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        const response = await gateway.callAsync('ge1_gripper/get_current', request, requests.IntResponse.fromBinary);
+        const response = await gateway.callAsync('ge1x_gripper/get_current', request, requests.IntResponse.fromBinary);
         return response.value;
     }
     /**
@@ -376,15 +376,15 @@ class GE1Gripper {
     async setHomeDirection(direction, options = {}) {
         const { saveToFlash = true, } = options;
         const request = {
-            ...requests.Ge1GripperSetHomeDirectionRequest.DEFAULT,
+            ...requests.Ge1xGripperSetHomeDirectionRequest.DEFAULT,
             connectionId: this.connectionId,
             direction: direction,
             saveToFlash: saveToFlash,
             toBinary() {
-                return requests.Ge1GripperSetHomeDirectionRequest.toBinary(this);
+                return requests.Ge1xGripperSetHomeDirectionRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/set_home_direction', request);
+        await gateway.callAsync('ge1x_gripper/set_home_direction', request);
     }
     /**
      * Enables or disables automatic homing on power up.
@@ -394,15 +394,15 @@ class GE1Gripper {
     async setAutoHome(enabled, options = {}) {
         const { saveToFlash = true, } = options;
         const request = {
-            ...requests.Ge1GripperSetAutoHomeRequest.DEFAULT,
+            ...requests.Ge1xGripperSetAutoHomeRequest.DEFAULT,
             connectionId: this.connectionId,
             enabled: enabled,
             saveToFlash: saveToFlash,
             toBinary() {
-                return requests.Ge1GripperSetAutoHomeRequest.toBinary(this);
+                return requests.Ge1xGripperSetAutoHomeRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/set_auto_home', request);
+        await gateway.callAsync('ge1x_gripper/set_auto_home', request);
     }
     /**
      * Enables or disables IO control for the gripper.
@@ -412,15 +412,15 @@ class GE1Gripper {
     async setIoEnabled(enabled, options = {}) {
         const { saveToFlash = true, } = options;
         const request = {
-            ...requests.Ge1GripperSetIoEnabledRequest.DEFAULT,
+            ...requests.Ge1xGripperSetIoEnabledRequest.DEFAULT,
             connectionId: this.connectionId,
             enabled: enabled,
             saveToFlash: saveToFlash,
             toBinary() {
-                return requests.Ge1GripperSetIoEnabledRequest.toBinary(this);
+                return requests.Ge1xGripperSetIoEnabledRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/set_io_enabled', request);
+        await gateway.callAsync('ge1x_gripper/set_io_enabled', request);
     }
     /**
      * Sets the debounce filter time for the gripper IO input to suppress noise.
@@ -430,15 +430,15 @@ class GE1Gripper {
     async setIoInputFilter(duration, options = {}) {
         const { saveToFlash = true, } = options;
         const request = {
-            ...requests.Ge1GripperSetIoInputFilterRequest.DEFAULT,
+            ...requests.Ge1xGripperSetIoInputFilterRequest.DEFAULT,
             connectionId: this.connectionId,
             duration: duration,
             saveToFlash: saveToFlash,
             toBinary() {
-                return requests.Ge1GripperSetIoInputFilterRequest.toBinary(this);
+                return requests.Ge1xGripperSetIoInputFilterRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/set_io_input_filter', request);
+        await gateway.callAsync('ge1x_gripper/set_io_input_filter', request);
     }
     /**
      * Saves a position, force, and speed as a preset.
@@ -451,7 +451,7 @@ class GE1Gripper {
     async setPreset(presetNumber, position, options = {}) {
         const { force = 100, speed = 100, saveToFlash = true, } = options;
         const request = {
-            ...requests.Ge1GripperSetPresetRequest.DEFAULT,
+            ...requests.Ge1xGripperSetPresetRequest.DEFAULT,
             connectionId: this.connectionId,
             presetNumber: presetNumber,
             position: position,
@@ -459,10 +459,10 @@ class GE1Gripper {
             speed: speed,
             saveToFlash: saveToFlash,
             toBinary() {
-                return requests.Ge1GripperSetPresetRequest.toBinary(this);
+                return requests.Ge1xGripperSetPresetRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/set_preset', request);
+        await gateway.callAsync('ge1x_gripper/set_preset', request);
     }
     /**
      * Activates a preset, causing the gripper to move to the preset position using the preset force and speed.
@@ -472,15 +472,15 @@ class GE1Gripper {
     async activatePreset(presetNumber, options = {}) {
         const { waitUntilIdle = true, } = options;
         const request = {
-            ...requests.Ge1GripperActivatePresetRequest.DEFAULT,
+            ...requests.Ge1xGripperActivatePresetRequest.DEFAULT,
             connectionId: this.connectionId,
             presetNumber: presetNumber,
             waitUntilIdle: waitUntilIdle,
             toBinary() {
-                return requests.Ge1GripperActivatePresetRequest.toBinary(this);
+                return requests.Ge1xGripperActivatePresetRequest.toBinary(this);
             },
         };
-        await gateway.callAsync('ge1_gripper/activate_preset', request);
+        await gateway.callAsync('ge1x_gripper/activate_preset', request);
     }
     /**
      * Gets the preset number currently activated by the gripper IO input.
@@ -488,13 +488,13 @@ class GE1Gripper {
      */
     async getIoInputPresetNumber() {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: this.connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        const response = await gateway.callAsync('ge1_gripper/get_io_input_preset_number', request, requests.IntResponse.fromBinary);
+        const response = await gateway.callAsync('ge1x_gripper/get_io_input_preset_number', request, requests.IntResponse.fromBinary);
         return response.value;
     }
     /**
@@ -503,26 +503,26 @@ class GE1Gripper {
      */
     static _free(connectionId) {
         const request = {
-            ...requests.Ge1GripperEmptyRequest.DEFAULT,
+            ...requests.Ge1xGripperEmptyRequest.DEFAULT,
             connectionId: connectionId,
             toBinary() {
-                return requests.Ge1GripperEmptyRequest.toBinary(this);
+                return requests.Ge1xGripperEmptyRequest.toBinary(this);
             },
         };
-        gateway.callSync('ge1_gripper/free_connection', request);
+        gateway.callSync('ge1x_gripper/free_connection', request);
     }
     /**
-     * Releases the native resources of the ge 1 gripper.
+     * Releases the native resources of the ge 1 x 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() {
-        GE1Gripper._free(this.connectionId);
+        Ge1xGripper._free(this.connectionId);
     }
 }
-exports.GE1Gripper = GE1Gripper;
+exports.Ge1xGripper = Ge1xGripper;
 /**
  * The default device address for a gripper in the GE1x series.
  */
-GE1Gripper.DEFAULT_DEVICE_ADDRESS = 1;
-//# sourceMappingURL=ge_1_gripper.js.map
+Ge1xGripper.DEFAULT_DEVICE_ADDRESS = 1;
+//# sourceMappingURL=ge_1_x_gripper.js.map

package/dist/lib/product/ge_1_x_gripper.js.map

@@ -0,0 +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 { registerForFinalization } from '../finalizer';\nimport { Ge1xGripperState } from './ge_1_x_gripper_state';\nimport { Ge1xGripperError } from './ge_1_x_gripper_error';\nimport { Ge1xGripperDirection } from './ge_1_x_gripper_direction';\n\n/**\n * Class representing a gripper in the GE1x series.\n */\nexport class Ge1xGripper {\n  /**\n   * The default device address for a gripper in the GE1x series.\n   */\n  public static readonly DEFAULT_DEVICE_ADDRESS: number = 1;\n\n  /**\n   * The identifier for the connection.\n   */\n  public get connectionId(): number {\n    return this._connectionId;\n  }\n  private _connectionId: number;\n\n  constructor(connectionId: number) {\n    this._connectionId = connectionId;\n    registerForFinalization(this, Ge1xGripper._free.bind(null, connectionId));\n  }\n\n  /**\n   * Opens a serial connection to a gripper.\n   * @param portName The name of the serial port to connect to.\n   * @param [options.deviceAddress=Ge1xGripper.DEFAULT_DEVICE_ADDRESS] The address of the gripper to connect to.\n   * @param [options.timeout=500] The timeout in milliseconds for any request sent using this connection.\n   * @returns A Ge1xGripper instance representing the connection to the gripper.\n   */\n  public static async openConnection(\n    portName: string,\n    options: Ge1xGripper.OpenConnectionOptions = {}\n  ): Promise<Ge1xGripper> {\n    const {\n      deviceAddress = Ge1xGripper.DEFAULT_DEVICE_ADDRESS,\n      timeout = 500,\n    } = options;\n    const request: requests.Ge1xGripperOpenConnectionRequest & gateway.Message = {\n      ...requests.Ge1xGripperOpenConnectionRequest.DEFAULT,\n      portName: portName,\n      deviceAddress: deviceAddress,\n      timeout: timeout,\n      toBinary() {\n        return requests.Ge1xGripperOpenConnectionRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.IntResponse>(\n      'ge1x_gripper/open_connection',\n      request,\n      requests.IntResponse.fromBinary);\n    return new Ge1xGripper(response.value);\n  }\n\n  /**\n   * Closes the connection to the gripper.\n   */\n  public async close(): Promise<void> {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: this.connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/close_connection', request);\n  }\n\n  /**\n   * Reads a single register value from the gripper.\n   * @param registerAddress The address of the register to read.\n   * @returns The data at the specified register address.\n   */\n  public async readRegister(\n    registerAddress: number\n  ): Promise<number> {\n    const request: requests.Ge1xGripperReadRegisterRequest & gateway.Message = {\n      ...requests.Ge1xGripperReadRegisterRequest.DEFAULT,\n      connectionId: this.connectionId,\n      registerAddress: registerAddress,\n      toBinary() {\n        return requests.Ge1xGripperReadRegisterRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.IntResponse>(\n      'ge1x_gripper/read_register',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Writes a single register value to the gripper.\n   * @param registerAddress The address of the register to write.\n   * @param data The data to write to the specified register address.\n   */\n  public async writeRegister(\n    registerAddress: number,\n    data: number\n  ): Promise<void> {\n    const request: requests.Ge1xGripperWriteRegisterRequest & gateway.Message = {\n      ...requests.Ge1xGripperWriteRegisterRequest.DEFAULT,\n      connectionId: this.connectionId,\n      registerAddress: registerAddress,\n      data: data,\n      toBinary() {\n        return requests.Ge1xGripperWriteRegisterRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/write_register', request);\n  }\n\n  /**\n   * Homes gripper by moving it to its homing position.\n   * @param [options.waitUntilIdle=true] Wait until homing has completed before returning.\n   */\n  public async home(\n    options: Ge1xGripper.HomeOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.Ge1xGripperWaitUntilIdleRequest & gateway.Message = {\n      ...requests.Ge1xGripperWaitUntilIdleRequest.DEFAULT,\n      connectionId: this.connectionId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.Ge1xGripperWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/home', request);\n  }\n\n  /**\n   * Waits until the gripper has stopped moving.\n   */\n  public async waitUntilIdle(): Promise<void> {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: this.connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/wait_until_idle', request);\n  }\n\n  /**\n   * Moves the gripper to a specified position.\n   * @param position The target position for the gripper as a percentage, where 0 is closed and 100 is open.\n   * @param [options.waitUntilIdle=true] Wait until the move has completed before returning.\n   */\n  public async move(\n    position: number,\n    options: Ge1xGripper.MoveOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.Ge1xGripperMoveRequest & gateway.Message = {\n      ...requests.Ge1xGripperMoveRequest.DEFAULT,\n      connectionId: this.connectionId,\n      position: position,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.Ge1xGripperMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/move', request);\n  }\n\n  /**\n   * Moves the gripper to the open position.\n   * @param [options.waitUntilIdle=true] Wait until the move has completed before returning.\n   */\n  public async moveOpen(\n    options: Ge1xGripper.MoveOpenOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.Ge1xGripperMoveRequest & gateway.Message = {\n      ...requests.Ge1xGripperMoveRequest.DEFAULT,\n      connectionId: this.connectionId,\n      position: 100,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.Ge1xGripperMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/move', request);\n  }\n\n  /**\n   * Moves the gripper to the closed position.\n   * @param [options.waitUntilIdle=true] Wait until the move has completed before returning.\n   */\n  public async moveClose(\n    options: Ge1xGripper.MoveCloseOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.Ge1xGripperMoveRequest & gateway.Message = {\n      ...requests.Ge1xGripperMoveRequest.DEFAULT,\n      connectionId: this.connectionId,\n      position: 0,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.Ge1xGripperMoveRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/move', request);\n  }\n\n  /**\n   * Stops the gripper from moving.\n   * @param [options.waitUntilIdle=true] Wait until the gripper has stopped before returning.\n   */\n  public async stop(\n    options: Ge1xGripper.StopOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.Ge1xGripperWaitUntilIdleRequest & gateway.Message = {\n      ...requests.Ge1xGripperWaitUntilIdleRequest.DEFAULT,\n      connectionId: this.connectionId,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.Ge1xGripperWaitUntilIdleRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/stop', request);\n  }\n\n  /**\n   * Sets the gripping force of the gripper.\n   * @param force The gripping force as a percentage from 20 to 100.\n   */\n  public async setForce(\n    force: number\n  ): Promise<void> {\n    const request: requests.Ge1xGripperSetForceRequest & gateway.Message = {\n      ...requests.Ge1xGripperSetForceRequest.DEFAULT,\n      connectionId: this.connectionId,\n      force: force,\n      toBinary() {\n        return requests.Ge1xGripperSetForceRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/set_force', request);\n  }\n\n  /**\n   * Sets the maximum speed of the gripper.\n   * @param speed The maximum speed as a percentage from 1 to 100.\n   */\n  public async setSpeed(\n    speed: number\n  ): Promise<void> {\n    const request: requests.Ge1xGripperSetSpeedRequest & gateway.Message = {\n      ...requests.Ge1xGripperSetSpeedRequest.DEFAULT,\n      connectionId: this.connectionId,\n      speed: speed,\n      toBinary() {\n        return requests.Ge1xGripperSetSpeedRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/set_speed', request);\n  }\n\n  /**\n   * Enables the gripper driver.\n   */\n  public async driverEnable(): Promise<void> {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: this.connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/driver_enable', request);\n  }\n\n  /**\n   * Disables the gripper driver.\n   */\n  public async driverDisable(): Promise<void> {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: this.connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/driver_disable', request);\n  }\n\n  /**\n   * Performs a calibration of the travel range by moving to the fully open and fully closed positions.\n   * @param [options.saveToFlash=true] Save the calibration results to flash memory so they are retained on power cycle.\n   */\n  public async calibrate(\n    options: Ge1xGripper.CalibrateOptions = {}\n  ): Promise<void> {\n    const {\n      saveToFlash = true,\n    } = options;\n    const request: requests.Ge1xGripperCalibrateRequest & gateway.Message = {\n      ...requests.Ge1xGripperCalibrateRequest.DEFAULT,\n      connectionId: this.connectionId,\n      saveToFlash: saveToFlash,\n      toBinary() {\n        return requests.Ge1xGripperCalibrateRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/calibrate', request);\n  }\n\n  /**\n   * Gets the current state of the gripper.\n   * @returns The current state of the gripper.\n   */\n  public async getState(): Promise<Ge1xGripperState> {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: this.connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.Ge1xGripperGetStateResponse>(\n      'ge1x_gripper/get_state',\n      request,\n      requests.Ge1xGripperGetStateResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Gets the current error of the gripper.\n   * @returns The current error of the gripper.\n   */\n  public async getError(): Promise<Ge1xGripperError> {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: this.connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.Ge1xGripperGetErrorResponse>(\n      'ge1x_gripper/get_error',\n      request,\n      requests.Ge1xGripperGetErrorResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Clears the current error of the gripper.\n   */\n  public async clearError(): Promise<void> {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: this.connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/clear_error', request);\n  }\n\n  /**\n   * Checks if the gripper has been homed.\n   * @returns True if the gripper is homed, false otherwise.\n   */\n  public async isHomed(): Promise<boolean> {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: this.connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.BoolResponse>(\n      'ge1x_gripper/is_homed',\n      request,\n      requests.BoolResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Gets the current position of the gripper.\n   * @returns The current position of the gripper as a percentage, where 0 is closed and 100 is open.\n   */\n  public async getPosition(): Promise<number> {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: this.connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.DoubleResponse>(\n      'ge1x_gripper/get_position',\n      request,\n      requests.DoubleResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Gets the current current of the gripper.\n   * @returns The current current of the gripper in milliamps.\n   */\n  public async getCurrent(): Promise<number> {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: this.connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.IntResponse>(\n      'ge1x_gripper/get_current',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Sets the home direction for the gripper.\n   * @param direction The home direction to set.\n   * @param [options.saveToFlash=true] Save the home direction setting to flash memory so it is retained on power cycle.\n   */\n  public async setHomeDirection(\n    direction: Ge1xGripperDirection,\n    options: Ge1xGripper.SetHomeDirectionOptions = {}\n  ): Promise<void> {\n    const {\n      saveToFlash = true,\n    } = options;\n    const request: requests.Ge1xGripperSetHomeDirectionRequest & gateway.Message = {\n      ...requests.Ge1xGripperSetHomeDirectionRequest.DEFAULT,\n      connectionId: this.connectionId,\n      direction: direction,\n      saveToFlash: saveToFlash,\n      toBinary() {\n        return requests.Ge1xGripperSetHomeDirectionRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/set_home_direction', request);\n  }\n\n  /**\n   * Enables or disables automatic homing on power up.\n   * @param enabled True to enable automatic homing on power up, false to disable.\n   * @param [options.saveToFlash=true] Save the auto home setting to flash memory so it is retained on power cycle.\n   */\n  public async setAutoHome(\n    enabled: boolean,\n    options: Ge1xGripper.SetAutoHomeOptions = {}\n  ): Promise<void> {\n    const {\n      saveToFlash = true,\n    } = options;\n    const request: requests.Ge1xGripperSetAutoHomeRequest & gateway.Message = {\n      ...requests.Ge1xGripperSetAutoHomeRequest.DEFAULT,\n      connectionId: this.connectionId,\n      enabled: enabled,\n      saveToFlash: saveToFlash,\n      toBinary() {\n        return requests.Ge1xGripperSetAutoHomeRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/set_auto_home', request);\n  }\n\n  /**\n   * Enables or disables IO control for the gripper.\n   * @param enabled True to enable IO control, false to disable.\n   * @param [options.saveToFlash=true] Save the IO enabled setting to flash memory so it is retained on power cycle.\n   */\n  public async setIoEnabled(\n    enabled: boolean,\n    options: Ge1xGripper.SetIoEnabledOptions = {}\n  ): Promise<void> {\n    const {\n      saveToFlash = true,\n    } = options;\n    const request: requests.Ge1xGripperSetIoEnabledRequest & gateway.Message = {\n      ...requests.Ge1xGripperSetIoEnabledRequest.DEFAULT,\n      connectionId: this.connectionId,\n      enabled: enabled,\n      saveToFlash: saveToFlash,\n      toBinary() {\n        return requests.Ge1xGripperSetIoEnabledRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/set_io_enabled', request);\n  }\n\n  /**\n   * Sets the debounce filter time for the gripper IO input to suppress noise.\n   * @param duration The IO input filter time in milliseconds.\n   * @param [options.saveToFlash=true] Save the IO input filter setting to flash memory so it is retained on power cycle.\n   */\n  public async setIoInputFilter(\n    duration: number,\n    options: Ge1xGripper.SetIoInputFilterOptions = {}\n  ): Promise<void> {\n    const {\n      saveToFlash = true,\n    } = options;\n    const request: requests.Ge1xGripperSetIoInputFilterRequest & gateway.Message = {\n      ...requests.Ge1xGripperSetIoInputFilterRequest.DEFAULT,\n      connectionId: this.connectionId,\n      duration: duration,\n      saveToFlash: saveToFlash,\n      toBinary() {\n        return requests.Ge1xGripperSetIoInputFilterRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/set_io_input_filter', request);\n  }\n\n  /**\n   * Saves a position, force, and speed as a preset.\n   * @param presetNumber The preset number to save the preset to, from 1 to 4.\n   * @param position The target position for the preset as a percentage, where 0 is closed and 100 is open.\n   * @param [options.force=100] The gripping force for the preset as a percentage from 20 to 100.\n   * @param [options.speed=100] The maximum speed for the preset as a percentage from 1 to 100.\n   * @param [options.saveToFlash=true] Save the preset to flash memory so it is retained on power cycle.\n   */\n  public async setPreset(\n    presetNumber: number,\n    position: number,\n    options: Ge1xGripper.SetPresetOptions = {}\n  ): Promise<void> {\n    const {\n      force = 100,\n      speed = 100,\n      saveToFlash = true,\n    } = options;\n    const request: requests.Ge1xGripperSetPresetRequest & gateway.Message = {\n      ...requests.Ge1xGripperSetPresetRequest.DEFAULT,\n      connectionId: this.connectionId,\n      presetNumber: presetNumber,\n      position: position,\n      force: force,\n      speed: speed,\n      saveToFlash: saveToFlash,\n      toBinary() {\n        return requests.Ge1xGripperSetPresetRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/set_preset', request);\n  }\n\n  /**\n   * Activates a preset, causing the gripper to move to the preset position using the preset force and speed.\n   * @param presetNumber The preset number to activate, from 1 to 4.\n   * @param [options.waitUntilIdle=true] Wait until the move has completed before returning.\n   */\n  public async activatePreset(\n    presetNumber: number,\n    options: Ge1xGripper.ActivatePresetOptions = {}\n  ): Promise<void> {\n    const {\n      waitUntilIdle = true,\n    } = options;\n    const request: requests.Ge1xGripperActivatePresetRequest & gateway.Message = {\n      ...requests.Ge1xGripperActivatePresetRequest.DEFAULT,\n      connectionId: this.connectionId,\n      presetNumber: presetNumber,\n      waitUntilIdle: waitUntilIdle,\n      toBinary() {\n        return requests.Ge1xGripperActivatePresetRequest.toBinary(this);\n      },\n    };\n\n    await gateway.callAsync('ge1x_gripper/activate_preset', request);\n  }\n\n  /**\n   * Gets the preset number currently activated by the gripper IO input.\n   * @returns The current preset number activated by the gripper IO input.\n   */\n  public async getIoInputPresetNumber(): Promise<number> {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: this.connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    const response = await gateway.callAsync<requests.IntResponse>(\n      'ge1x_gripper/get_io_input_preset_number',\n      request,\n      requests.IntResponse.fromBinary);\n    return response.value;\n  }\n\n  /**\n   * Frees the connection instance.\n   * @param connectionId Connection ID to be freed.\n   */\n  private static _free(\n    connectionId: number\n  ): void {\n    const request: requests.Ge1xGripperEmptyRequest & gateway.Message = {\n      ...requests.Ge1xGripperEmptyRequest.DEFAULT,\n      connectionId: connectionId,\n      toBinary() {\n        return requests.Ge1xGripperEmptyRequest.toBinary(this);\n      },\n    };\n\n    gateway.callSync('ge1x_gripper/free_connection', request);\n  }\n\n  /**\n   * Releases the native resources of the ge 1 x gripper.\n   * Should only be called if your environment does not support FinalizationRegistry.\n   * https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/FinalizationRegistry\n   */\n  public free(): void {\n    Ge1xGripper._free(this.connectionId);\n  }\n}\n\nnamespace Ge1xGripper {\n  export interface OpenConnectionOptions {\n      /**\n       * The address of the gripper to connect to.\n       */\n      deviceAddress?: number;\n      /**\n       * The timeout in milliseconds for any request sent using this connection.\n       */\n      timeout?: number;\n  }\n  export interface HomeOptions {\n      /**\n       * Wait until homing has completed before returning.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveOptions {\n      /**\n       * Wait until the move has completed before returning.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveOpenOptions {\n      /**\n       * Wait until the move has completed before returning.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface MoveCloseOptions {\n      /**\n       * Wait until the move has completed before returning.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface StopOptions {\n      /**\n       * Wait until the gripper has stopped before returning.\n       */\n      waitUntilIdle?: boolean;\n  }\n  export interface CalibrateOptions {\n      /**\n       * Save the calibration results to flash memory so they are retained on power cycle.\n       */\n      saveToFlash?: boolean;\n  }\n  export interface SetHomeDirectionOptions {\n      /**\n       * Save the home direction setting to flash memory so it is retained on power cycle.\n       */\n      saveToFlash?: boolean;\n  }\n  export interface SetAutoHomeOptions {\n      /**\n       * Save the auto home setting to flash memory so it is retained on power cycle.\n       */\n      saveToFlash?: boolean;\n  }\n  export interface SetIoEnabledOptions {\n      /**\n       * Save the IO enabled setting to flash memory so it is retained on power cycle.\n       */\n      saveToFlash?: boolean;\n  }\n  export interface SetIoInputFilterOptions {\n      /**\n       * Save the IO input filter setting to flash memory so it is retained on power cycle.\n       */\n      saveToFlash?: boolean;\n  }\n  export interface SetPresetOptions {\n      /**\n       * The gripping force for the preset as a percentage from 20 to 100.\n       */\n      force?: number;\n      /**\n       * The maximum speed for the preset as a percentage from 1 to 100.\n       */\n      speed?: number;\n      /**\n       * Save the preset to flash memory so it is retained on power cycle.\n       */\n      saveToFlash?: boolean;\n  }\n  export interface ActivatePresetOptions {\n      /**\n       * Wait until the move has completed before returning.\n       */\n      waitUntilIdle?: boolean;\n  }\n}\n"]}