motion-master-client 0.0.107 → 0.0.108

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (3) hide show
  1. package/package.json +1 -1
  2. package/src/lib/integro-encoder-calibration.js +4 -2
  3. package/src/lib/integro-encoder-calibration.js.map +1 -1
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "motion-master-client",
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- "version": "0.0.107",
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+ "version": "0.0.108",
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  "type": "commonjs",
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  "description": "A library and CLI program used for communicating with Motion Master.",
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  "dependencies": {
package/src/lib/integro-encoder-calibration.js CHANGED
@@ -37,6 +37,8 @@ class IntegroEncoderCalibration {
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  // Tuning of the control loop should be done by the user.
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  this.notifications$.next(`Validating the device (${deviceRef}) before starting the Integro encoder calibration.`);
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  yield this.validateDevice();
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+ this.notifications$.next(`Setting the integrated encoder sampling frequency to 16 kHz (0x2110:28 = 1).`);
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+ yield this.client.request.download(this.deviceRef, 0x2110, 28, 1);
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  this.notifications$.next('Switching the source of the velocity to the value provided by the encoder.');
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  yield (0, rxjs_1.lastValueFrom)(this.client.request.runUseInternalEncoderVelocityOsCommand(deviceRef, 1, 10000, 1000, false));
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  // Trigger the POA automatic calibration with an OS command.
@@ -108,10 +110,10 @@ class IntegroEncoderCalibration {
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  yield this.writeEncoderRegisterValueAndValidateResponse(0x25, 0x01);
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  this.notifications$.next('Saving the correction table by writing 0x00D0 to the encoder register 0x50.');
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  yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00D0, 2);
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+ this.notifications$.next(`Setting the integrated encoder sampling frequency back to 32 kHz (0x2110:28 = 2).`);
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+ yield this.client.request.download(this.deviceRef, 0x2110, 28, 2);
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  this.notifications$.next('Requesting Quick stop from device.');
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  yield this.client.request.quickStop(deviceRef);
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- this.notifications$.next('Switching the source of the velocity to the value calculated by the firmware.');
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- yield (0, rxjs_1.lastValueFrom)(this.client.request.runUseInternalEncoderVelocityOsCommand(deviceRef, 0, 10000, 1000, false));
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  });
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  }
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  /**
package/src/lib/integro-encoder-calibration.js.map CHANGED
@@ -1 +1 @@
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- 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