motion-master-client 0.0.152 → 0.0.153

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.152",
+  "version": "0.0.153",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/lib/integro-encoder-calibration.js

@@ -59,7 +59,7 @@ class IntegroEncoderCalibration {
             // Tuning of the control loop should be done by the user.
             this.notifications$.next(`Validating the device (${this.deviceRef}) before starting the Integro encoder calibration.`);
             yield this.validateDevice();
-            this.updateVelocityParameterValues();
+            yield this.updateVelocityParameterValues();
             // Retrieve the encoder firmware version and display it.
             let osCommandResponse = yield (0, rxjs_1.lastValueFrom)(this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0, 0x04, 4, 0, 10000, 1000, false));
             const encoderFirmwareVersion = parseIntegroEncoderFirmwareVersion(osCommandResponse.kublerRegisterValue);
@@ -364,6 +364,9 @@ class IntegroEncoderCalibration {
             if (switchToRpm) {
                 this.notifications$.next('The user defined velocity units interfere with the maximum value of the calibration profile Velocity Window. Temporarily switching all units to RPM.');
                 velocityWindow = 120;
+                this.siUnitVelocity = 0x00B44700;
+                this.feedConstantFeed = 0xFFFFFFFF;
+                this.feedConstantShaftRevolutions = 1;
                 this.feedConstant = this.feedConstantFeed / this.feedConstantShaftRevolutions;
                 this.maxMotorSpeed = (0, device_1.convertVelocityAffectedValue)(this.originalMaxMotorSpeed, this.originalSiUnitVelocity, this.siUnitVelocity, this.originalFeedConstant, this.feedConstant);
                 this.notifications$.next(`Setting the Max motor speed (0x6080:00) to ${this.maxMotorSpeed}.`);
@@ -385,13 +388,10 @@ class IntegroEncoderCalibration {
             this.notifications$.next(`Setting the Velocity window time (0x606E:00) to ${velocityWindowTime}.`);
             yield this.client.request.download(this.deviceRef, 0x606E, 0, velocityWindowTime);
             if (switchToRpm) {
-                this.siUnitVelocity = 0x00B44700;
-                this.notifications$.next(`Setting the SI unit velocity (0x60A9:00) to ${this.siUnitVelocity}.`);
+                this.notifications$.next(`Setting the SI unit velocity (0x60A9:00) to ${hex(this.siUnitVelocity)}.`);
                 yield this.client.request.download(this.deviceRef, 0x60A9, 0, this.siUnitVelocity);
-                this.feedConstantFeed = 0xFFFFFFFF;
                 this.notifications$.next(`Setting the Feed constant Feed (0x6092:01) to ${this.feedConstantFeed}.`);
                 yield this.client.request.download(this.deviceRef, 0x6092, 1, this.feedConstantFeed);
-                this.feedConstantShaftRevolutions = 1;
                 this.notifications$.next(`Setting the Feed constant Shaft revolutions (0x6092:02) to ${this.feedConstantShaftRevolutions}.`);
                 yield this.client.request.download(this.deviceRef, 0x6092, 2, this.feedConstantShaftRevolutions);
                 yield this.client.request.reloadDeviceStateMachine(this.deviceRef);
@@ -400,7 +400,7 @@ class IntegroEncoderCalibration {
     }
     revertVelocityParameterValues() {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            this.notifications$.next(`Reverting the SI unit velocity (0x60A9:00) to ${this.originalSiUnitVelocity}.`);
+            this.notifications$.next(`Reverting the SI unit velocity (0x60A9:00) to  ${hex(this.originalSiUnitVelocity)}.`);
             yield this.client.request.download(this.deviceRef, 0x60A9, 0, this.originalSiUnitVelocity);
             this.notifications$.next(`Reverting the Feed constant Feed (0x6092:01) to ${this.originalFeedConstantFeed}.`);
             yield this.client.request.download(this.deviceRef, 0x6092, 1, this.originalFeedConstantFeed);

package/src/lib/integro-encoder-calibration.js.map

@@ -1 +1 @@
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package/src/lib/motion-composer.d.ts

@@ -0,0 +1,15 @@
+import { DeviceRef } from "./types";
+export type MotionComposerFlowCommandId = 'runVelocityProfile' | 'downloadParameter' | 'quickStop' | 'setModesOfOperation' | 'setCia402State' | 'timeDelay';
+export interface MotionComposerFlowCommand {
+    id: MotionComposerFlowCommandId;
+    deviceRef?: DeviceRef;
+}
+export interface MotionComposerFlow {
+    name: string;
+    repeat: boolean;
+    commands: MotionComposerFlowCommand[];
+}
+export interface MotionComposer {
+    name: string;
+    flows: MotionComposerFlow[];
+}

package/src/lib/motion-composer.js

@@ -0,0 +1,3 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+//# sourceMappingURL=motion-composer.js.map

package/src/lib/motion-composer.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"motion-composer.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/motion-composer.ts"],"names":[],"mappings":""}