motion-master-client 0.0.301 → 0.0.302

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.301",
+  "version": "0.0.302",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/index.d.ts

@@ -6,7 +6,6 @@ export * from './lib/device';
 export * from './lib/device-parameter';
 export * from './lib/device-log-line';
 export * from './lib/encoder';
-export * from './lib/encoder-configuration';
 export * from './lib/ethercat';
 export * from './lib/ethernet';
 export * from './lib/fetch';

package/src/index.js

@@ -9,7 +9,6 @@ tslib_1.__exportStar(require("./lib/device"), exports);
 tslib_1.__exportStar(require("./lib/device-parameter"), exports);
 tslib_1.__exportStar(require("./lib/device-log-line"), exports);
 tslib_1.__exportStar(require("./lib/encoder"), exports);
-tslib_1.__exportStar(require("./lib/encoder-configuration"), exports);
 tslib_1.__exportStar(require("./lib/ethercat"), exports);
 tslib_1.__exportStar(require("./lib/ethernet"), exports);
 tslib_1.__exportStar(require("./lib/fetch"), exports);

package/src/index.js.map

@@ -1 +1 @@
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package/src/lib/encoder.d.ts

@@ -163,3 +163,14 @@ export interface EncoderConfigurationUsage {
         };
     };
 }
+/**
+ * Selects the encoder configuration exception case based on the encoder ordinal, type, and product ID
+ *
+ * @param productId - The product ID to check against.
+ * @param encoderPort - The encoder port to check.
+ * @param encoderType - The encoder type to check.
+ * @param firmwareMajorMinorVersion - The firmware version in major.minor format.
+ * @returns The selected exception case or undefined if no case matches.
+ * @link https://docs.google.com/spreadsheets/d/1E0HTiZQtGmby2BJ9kOGV0UwD3HT6xQ7QRLjNbXpx5V0/edit?usp=sharing
+ */
+export declare function getEncoderConfigurationExceptionCase(productId: number, encoderPort: number, encoderType: number, firmwareMajorMinorVersion: string): EncoderConfigurationExceptionCase | undefined;

package/src/lib/encoder.js

@@ -1,6 +1,7 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.getCirculoEncoderBatteryModeOptions = exports.getCirculoEncoderBatteryModeDefaultValue = exports.circuloEncoderBatteryModeMap = exports.mapCirculoEncoderRegisterValueToErrors = exports.circuloEncoderRegisterErrors = exports.CirculoEncoderRegisterAddress = void 0;
+exports.getEncoderConfigurationExceptionCase = exports.getCirculoEncoderBatteryModeOptions = exports.getCirculoEncoderBatteryModeDefaultValue = exports.circuloEncoderBatteryModeMap = exports.mapCirculoEncoderRegisterValueToErrors = exports.circuloEncoderRegisterErrors = exports.CirculoEncoderRegisterAddress = void 0;
+const semver_1 = require("semver");
 const product_1 = require("./product");
 /**
  * Enum of Circulo encoder register addresses.
@@ -232,4 +233,44 @@ function getCirculoEncoderBatteryModeOptions(productId, shaft) {
     return [];
 }
 exports.getCirculoEncoderBatteryModeOptions = getCirculoEncoderBatteryModeOptions;
+/**
+ * Selects the encoder configuration exception case based on the encoder ordinal, type, and product ID
+ *
+ * @param productId - The product ID to check against.
+ * @param encoderPort - The encoder port to check.
+ * @param encoderType - The encoder type to check.
+ * @param firmwareMajorMinorVersion - The firmware version in major.minor format.
+ * @returns The selected exception case or undefined if no case matches.
+ * @link https://docs.google.com/spreadsheets/d/1E0HTiZQtGmby2BJ9kOGV0UwD3HT6xQ7QRLjNbXpx5V0/edit?usp=sharing
+ */
+function getEncoderConfigurationExceptionCase(productId, encoderPort, encoderType, firmwareMajorMinorVersion) {
+    const firmwareVersion = `${firmwareMajorMinorVersion}.0`;
+    // Case 1
+    const case1EncoderTypes = (0, semver_1.satisfies)(firmwareVersion, '>=5.0 <5.1') ? [4] : [4, 5];
+    if ((0, semver_1.satisfies)(firmwareVersion, '>=5.0') &&
+        (0, product_1.isSomanetProductIdInRange)(productId, 'Circulo All') &&
+        (0, product_1.isEncoderPortUsable)(encoderPort, productId) &&
+        (0, product_1.isEncoderPortInternal)(encoderPort, productId) &&
+        case1EncoderTypes.includes(encoderType)) {
+        return 'case1';
+    }
+    // Case 2
+    if ((0, semver_1.satisfies)(firmwareVersion, '>=5.1') &&
+        (0, product_1.isSomanetProductIdInRange)(productId, 'Circulo Safe Motion') &&
+        (0, product_1.isEncoderPortUsable)(encoderPort, productId) &&
+        !(0, product_1.isEncoderPortInternal)(encoderPort, productId) &&
+        encoderType === 4) {
+        return 'case2';
+    }
+    // Case 3
+    if ((0, semver_1.satisfies)(firmwareVersion, '>=5.2') &&
+        (0, product_1.isSomanetProductIdInRange)(productId, 'Integro') &&
+        (0, product_1.isEncoderPortUsable)(encoderPort, productId) &&
+        (0, product_1.isEncoderPortInternal)(encoderPort, productId) &&
+        encoderType === 5) {
+        return 'case3';
+    }
+    return;
+}
+exports.getEncoderConfigurationExceptionCase = getEncoderConfigurationExceptionCase;
 //# sourceMappingURL=encoder.js.map

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package/src/lib/encoder-configuration.d.ts

@@ -1,103 +0,0 @@
-import { EncoderConfigurationExceptionCase } from './encoder';
-import { ProductGroup } from './product';
-/** Encoder type: 1 */
-declare class Hall {
-    /** Subindex: 3 */
-    static getResolution(polePairs: number): number;
-}
-/** Encoder type: 2 */
-declare class Incremental {
-    /** Subindex: 4 */
-    static getZeroVelocityThreshold(inputValue: number): number;
-    /** Subindex: 23 */
-    static hasSameHallSensorPort(sensorPort: number, HALLSensorPort: number): boolean;
-    /** Subindex: 23 */
-    static supportsHallSensor(supportedEncoderTypes: number[]): boolean;
-}
-/** Encoder type: 3 */
-declare class NikonA {
-    /** Subindex: 3 */
-    static getResolution(singleTurnBits: number): number;
-    /** Subindex: 8 */
-    static getClockFrequency(inputValue: number): number;
-    /** Subindex: 10 */
-    static getMultiturnBits(inputValue: number): 0 | 16;
-    /** Subindex: 12 */
-    static getSingleturnBits(inputValue: number): number;
-    /** Subindex: 28 */
-    static getSamplingFrequency(): number;
-}
-/** Encoder type: 4 */
-declare class Biss {
-    /** Subindex: 8 */
-    static getClockFrequency(inputValue: number): number;
-}
-/** Encoder type: 6 */
-declare class Rem16Mt {
-    /** Subindex: 3 */
-    static getResolution(inputValue: number, firmwareVersion: string): number;
-    /** Subindex: 28 */
-    static getSamplingFrequency(inputValue: number, firmwareVersion: string): number;
-}
-/** Encoder type: 7 */
-declare class Ssi {
-    /** Subindex: 8 */
-    static getClockFrequency(inputValue: number): number;
-}
-/** Encoder type: 9 */
-declare class SinCos {
-    /** Subindex: 3 */
-    static getResolution(sinewaveResolution: number, sinewaveCyclesPerRevolution: number): number;
-}
-declare class Case1 {
-    static getResolution(resolution: number, productGroup: ProductGroup): number;
-    static getClockFrequency(): number;
-    static getFrameSize(singleturnBits: number, multiturnBits: number): number;
-    static getMultiturnBits(multiturnBits: number, sensorPort: number): number;
-    static getMultiturnFirstBitPosition(): number;
-    static getSingleturnBits(singleturnBits: number, productGroup: ProductGroup): number;
-    static getSingleturnFirstBitPosition(multiturnBits: number): number;
-    static getTimeout(): number;
-    static getCrcPolynomial(): number;
-    static getMaximumTBusy(): number;
-    static getSamplingFrequency(multiturnBits: number): 2 | 1;
-}
-declare class Case2 {
-    static getClockFrequency(clockFrequency: number): number;
-    static getSamplingFrequency(): number;
-}
-declare class Case3 {
-    static getResolution(integratedEncoderStBitsUsed: number): number;
-}
-/**
- * Modify the encoder configuration types subitem values based on the encoder type and firmware version.
- *
- * @example
- * * `When encoder type is SinCos (9), apply function 'getResolution' to its subindex 3 value.`
- * @link https://docs.google.com/spreadsheets/d/1tTGNMyg-40l4YxmDnXHrvVyIIyTcFc2ZauoABtgxPMA/edit?usp=sharing
- * @link https://docs.google.com/spreadsheets/d/1E0HTiZQtGmby2BJ9kOGV0UwD3HT6xQ7QRLjNbXpx5V0/edit?usp=sharing
- */
-export declare class EncoderConfigurationException {
-    static Hall: typeof Hall;
-    static Incremental: typeof Incremental;
-    static NikonA: typeof NikonA;
-    static BiSS: typeof Biss;
-    static Rem16MT: typeof Rem16Mt;
-    static Ssi: typeof Ssi;
-    static SinCos: typeof SinCos;
-    static Case1: typeof Case1;
-    static Case2: typeof Case2;
-    static Case3: typeof Case3;
-}
-/**
- * Selects the encoder configuration exception case based on the encoder ordinal, type, and product ID
- *
- * @param productId - The product ID to check against.
- * @param encoderPort - The encoder port to check.
- * @param encoderType - The encoder type to check.
- * @param firmwareMajorMinorVersion - The firmware version in major.minor format.
- * @returns The selected exception case or undefined if no case matches.
- * @link https://docs.google.com/spreadsheets/d/1E0HTiZQtGmby2BJ9kOGV0UwD3HT6xQ7QRLjNbXpx5V0/edit?usp=sharing
- */
-export declare function getEncoderConfigurationExceptionCase(productId: number, encoderPort: number, encoderType: number, firmwareMajorMinorVersion: string): EncoderConfigurationExceptionCase | undefined;
-export {};

package/src/lib/encoder-configuration.js

@@ -1,225 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.getEncoderConfigurationExceptionCase = exports.EncoderConfigurationException = void 0;
-const semver_1 = require("semver");
-const product_1 = require("./product");
-/** Encoder type: 1 */
-class Hall {
-    /** Subindex: 3 */
-    static getResolution(polePairs) {
-        return 4096 * polePairs;
-    }
-}
-/** Encoder type: 2 */
-class Incremental {
-    /** Subindex: 4 */
-    static getZeroVelocityThreshold(inputValue) {
-        return Math.floor((inputValue * 100) / 6250) * 62.5;
-    }
-    /** Subindex: 23 */
-    static hasSameHallSensorPort(sensorPort, HALLSensorPort) {
-        // 'HALL sensor port cannot be the same as the device sensor port.'
-        return sensorPort === HALLSensorPort;
-    }
-    /** Subindex: 23 */
-    static supportsHallSensor(supportedEncoderTypes) {
-        // HALL Sensor port cannot be set on encoder type which does not support it.
-        return supportedEncoderTypes.includes(1);
-    }
-}
-/** Encoder type: 3 */
-class NikonA {
-    /** Subindex: 3 */
-    static getResolution(singleTurnBits) {
-        return 1 << singleTurnBits;
-    }
-    /** Subindex: 8 */
-    static getClockFrequency(inputValue) {
-        const clockFrequencies = [2500, 4000, 6670, 8000, 16000];
-        return clockFrequencies.reduce((prev, curr) => Math.abs(curr - inputValue) < Math.abs(prev - inputValue) ? curr : prev);
-    }
-    /** Subindex: 10 */
-    static getMultiturnBits(inputValue) {
-        return inputValue > 0 ? 16 : 0;
-    }
-    /** Subindex: 12 */
-    static getSingleturnBits(inputValue) {
-        const bits = [17, 20, 22, 24];
-        return bits.reduce((prev, curr) => (Math.abs(curr - inputValue) < Math.abs(prev - inputValue) ? curr : prev));
-    }
-    /** Subindex: 28 */
-    static getSamplingFrequency() {
-        return 1;
-    }
-}
-/** Encoder type: 4 */
-class Biss {
-    /** Subindex: 8 */
-    static getClockFrequency(inputValue) {
-        return Math.round(25000 / Math.max(Math.round(25000 / inputValue), 5));
-    }
-}
-/** Encoder type: 6 */
-class Rem16Mt {
-    /** Subindex: 3 */
-    static getResolution(inputValue, firmwareVersion) {
-        return (0, semver_1.satisfies)(`${firmwareVersion}.0`, '>=5.0 <5.2') ? 65536 : inputValue;
-    }
-    /** Subindex: 28 */
-    static getSamplingFrequency(inputValue, firmwareVersion) {
-        return (0, semver_1.satisfies)(`${firmwareVersion}.0`, '>=5.0 <5.2') ? 1 : inputValue;
-    }
-}
-/** Encoder type: 7 */
-class Ssi {
-    /** Subindex: 8 */
-    static getClockFrequency(inputValue) {
-        return Math.round(25000 / Math.max(Math.round(25000 / inputValue), 5));
-    }
-}
-/** Encoder type: 9 */
-class SinCos {
-    /** Subindex: 3 */
-    static getResolution(sinewaveResolution, sinewaveCyclesPerRevolution) {
-        return sinewaveResolution * sinewaveCyclesPerRevolution;
-    }
-}
-class Case1 {
-    /* Subindex: 3 */
-    static getResolution(resolution, productGroup) {
-        if (productGroup === 'Circulo 7') {
-            return 524288;
-        }
-        if (productGroup === 'Circulo 9') {
-            return 1048576;
-        }
-        return resolution;
-    }
-    /* Subindex: 8 (takes precedence over Case 2) */
-    static getClockFrequency() {
-        return 4167;
-    }
-    /* Subindex: 9 */
-    static getFrameSize(singleturnBits, multiturnBits) {
-        return singleturnBits + multiturnBits;
-    }
-    /* Subindex: 10 */
-    static getMultiturnBits(multiturnBits, sensorPort) {
-        if (sensorPort === 1 && multiturnBits !== 0) {
-            return 18;
-        }
-        return multiturnBits;
-    }
-    /* Subindex: 11 */
-    static getMultiturnFirstBitPosition() {
-        return 0;
-    }
-    /* Subindex: 12 */
-    static getSingleturnBits(singleturnBits, productGroup) {
-        if (productGroup === 'Circulo 7') {
-            return 19;
-        }
-        if (productGroup === 'Circulo 9') {
-            return 20;
-        }
-        return singleturnBits;
-    }
-    /* Subindex: 13 */
-    static getSingleturnFirstBitPosition(multiturnBits) {
-        return multiturnBits;
-    }
-    /* Subindex: 14 */
-    static getTimeout() {
-        return 2;
-    }
-    /* Subindex: 15 */
-    static getCrcPolynomial() {
-        return 67;
-    }
-    /* Subindex: 16 */
-    static getMaximumTBusy() {
-        return 20;
-    }
-    /* Subindex: 28 */
-    static getSamplingFrequency(multiturnBits) {
-        return multiturnBits !== 0 ? 1 : 2;
-    }
-}
-class Case2 {
-    /* Subindex: 8 */
-    static getClockFrequency(clockFrequency) {
-        return Math.round(25000 / Math.max(Math.round(25000 / clockFrequency), 5));
-    }
-    /* Subindex: 28 (takes precedence over Case 1) */
-    static getSamplingFrequency() {
-        return 1;
-    }
-}
-class Case3 {
-    /* Subindex: 3 */
-    static getResolution(integratedEncoderStBitsUsed) {
-        return 1 << integratedEncoderStBitsUsed;
-    }
-}
-/**
- * Modify the encoder configuration types subitem values based on the encoder type and firmware version.
- *
- * @example
- * * `When encoder type is SinCos (9), apply function 'getResolution' to its subindex 3 value.`
- * @link https://docs.google.com/spreadsheets/d/1tTGNMyg-40l4YxmDnXHrvVyIIyTcFc2ZauoABtgxPMA/edit?usp=sharing
- * @link https://docs.google.com/spreadsheets/d/1E0HTiZQtGmby2BJ9kOGV0UwD3HT6xQ7QRLjNbXpx5V0/edit?usp=sharing
- */
-class EncoderConfigurationException {
-}
-exports.EncoderConfigurationException = EncoderConfigurationException;
-EncoderConfigurationException.Hall = Hall;
-EncoderConfigurationException.Incremental = Incremental;
-EncoderConfigurationException.NikonA = NikonA;
-EncoderConfigurationException.BiSS = Biss;
-EncoderConfigurationException.Rem16MT = Rem16Mt;
-EncoderConfigurationException.Ssi = Ssi;
-EncoderConfigurationException.SinCos = SinCos;
-EncoderConfigurationException.Case1 = Case1;
-EncoderConfigurationException.Case2 = Case2;
-EncoderConfigurationException.Case3 = Case3;
-/**
- * Selects the encoder configuration exception case based on the encoder ordinal, type, and product ID
- *
- * @param productId - The product ID to check against.
- * @param encoderPort - The encoder port to check.
- * @param encoderType - The encoder type to check.
- * @param firmwareMajorMinorVersion - The firmware version in major.minor format.
- * @returns The selected exception case or undefined if no case matches.
- * @link https://docs.google.com/spreadsheets/d/1E0HTiZQtGmby2BJ9kOGV0UwD3HT6xQ7QRLjNbXpx5V0/edit?usp=sharing
- */
-function getEncoderConfigurationExceptionCase(productId, encoderPort, encoderType, firmwareMajorMinorVersion) {
-    const firmwareVersion = `${firmwareMajorMinorVersion}.0`;
-    // Case 1
-    const case1EncoderTypes = (0, semver_1.satisfies)(firmwareVersion, '>=5.0 <5.1') ? [4] : [4, 5];
-    if ((0, semver_1.satisfies)(firmwareVersion, '>=5.0') &&
-        (0, product_1.isSomanetProductIdInRange)(productId, 'Circulo All') &&
-        (0, product_1.isEncoderPortUsable)(encoderPort, productId) &&
-        (0, product_1.isEncoderPortInternal)(encoderPort, productId) &&
-        case1EncoderTypes.includes(encoderType)) {
-        return 'case1';
-    }
-    // Case 2
-    if ((0, semver_1.satisfies)(firmwareVersion, '>=5.1') &&
-        (0, product_1.isSomanetProductIdInRange)(productId, 'Circulo Safe Motion') &&
-        (0, product_1.isEncoderPortUsable)(encoderPort, productId) &&
-        !(0, product_1.isEncoderPortInternal)(encoderPort, productId) &&
-        encoderType === 4) {
-        return 'case2';
-    }
-    // Case 3
-    if ((0, semver_1.satisfies)(firmwareVersion, '>=5.2') &&
-        (0, product_1.isSomanetProductIdInRange)(productId, 'Integro') &&
-        (0, product_1.isEncoderPortUsable)(encoderPort, productId) &&
-        (0, product_1.isEncoderPortInternal)(encoderPort, productId) &&
-        encoderType === 5) {
-        return 'case3';
-    }
-    return;
-}
-exports.getEncoderConfigurationExceptionCase = getEncoderConfigurationExceptionCase;
-//# sourceMappingURL=encoder-configuration.js.map

package/src/lib/encoder-configuration.js.map

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