lebai_sdk 0.1.7 → 0.1.9

package/lebai_sdk.d.ts

@@ -12,18 +12,6 @@ export function connect(ip: string, simu: boolean): Promise<Robot>;
 */
 export function discover_devices(time: number): Promise<any>;
 /**
-* @param {bigint} ms
-* @returns {Promise<void>}
-*/
-export function sleep_ms(ms: bigint): Promise<void>;
-/**
-* @returns {bigint}
-*/
-export function timestamp(): bigint;
-/**
-*/
-export function init(): void;
-/**
 * @returns {string}
 */
 export function version(): string;
@@ -106,40 +94,40 @@ export class Robot {
 * @param {any} p
 * @param {number} a
 * @param {number} v
-* @param {number} t
+* @param {number | undefined} t
 * @param {number | undefined} r
 * @returns {Promise<number>}
 */
-  towardj(p: any, a: number, v: number, t: number, r?: number): Promise<number>;
+  towardj(p: any, a: number, v: number, t?: number, r?: number): Promise<number>;
 /**
 * @param {any} p
 * @param {number} a
 * @param {number} v
-* @param {number} t
+* @param {number | undefined} t
 * @param {number | undefined} r
 * @returns {Promise<number>}
 */
-  movej(p: any, a: number, v: number, t: number, r?: number): Promise<number>;
+  movej(p: any, a: number, v: number, t?: number, r?: number): Promise<number>;
 /**
 * @param {any} p
 * @param {number} a
 * @param {number} v
-* @param {number} t
+* @param {number | undefined} t
 * @param {number | undefined} r
 * @returns {Promise<number>}
 */
-  movel(p: any, a: number, v: number, t: number, r?: number): Promise<number>;
+  movel(p: any, a: number, v: number, t?: number, r?: number): Promise<number>;
 /**
 * @param {any} via
 * @param {any} p
 * @param {number} rad
 * @param {number} a
 * @param {number} v
-* @param {number} t
+* @param {number | undefined} t
 * @param {number | undefined} r
 * @returns {Promise<number>}
 */
-  movec(via: any, p: any, rad: number, a: number, v: number, t: number, r?: number): Promise<number>;
+  movec(via: any, p: any, rad: number, a: number, v: number, t?: number, r?: number): Promise<number>;
 /**
 * @param {any} p
 * @param {any} v
@@ -156,16 +144,20 @@ export class Robot {
 */
   move_pvat(p: any, v: any, a: any, t: number): Promise<void>;
 /**
+* @param {number} a
 * @param {any} v
-* @returns {Promise<void>}
+* @param {number | undefined} t
+* @returns {Promise<number>}
 */
-  speedj(v: any): Promise<void>;
+  speedj(a: number, v: any, t?: number): Promise<number>;
 /**
+* @param {number} a
 * @param {any} v
+* @param {number | undefined} t
 * @param {any | undefined} frame
-* @returns {Promise<void>}
+* @returns {Promise<number>}
 */
-  speedl(v: any, frame?: any): Promise<void>;
+  speedl(a: number, v: any, t?: number, frame?: any): Promise<number>;
 /**
 * @returns {Promise<void>}
 */
@@ -273,6 +265,30 @@ export class Robot {
   get_task_state(id?: number): Promise<string>;
 /**
 * @param {string} device
+* @param {number} baud_rate
+* @returns {Promise<void>}
+*/
+  set_serial_baud_rate(device: string, baud_rate: number): Promise<void>;
+/**
+* @param {string} device
+* @param {any} parity
+* @returns {Promise<void>}
+*/
+  set_serial_parity(device: string, parity: any): Promise<void>;
+/**
+* @param {string} device
+* @param {any} data
+* @returns {Promise<void>}
+*/
+  write_serial(device: string, data: any): Promise<void>;
+/**
+* @param {string} device
+* @param {number} len
+* @returns {Promise<any>}
+*/
+  read_serial(device: string, len: number): Promise<any>;
+/**
+* @param {string} device
 * @param {string} pin
 * @param {boolean} value
 * @returns {Promise<void>}