motion-master-client 0.0.340 → 0.0.342

package/src/lib/motion-master-req-res-client.js

@@ -2539,21 +2539,45 @@ class MotionMasterReqResClient {
         ], false, requestTimeout).pipe((0, operators_1.map)((values) => values[0] / values[1]));
     }
     /**
-     * Computes the Gear Ratio for a given device.
+     * Computes the mechanical Gear Ratio for the specified device.
      *
-     * The Gear Ratio is calculated as the quotient of:
-     * - Gear Ratio Numerator (`0x6091:01` – Motor Revolutions)
-     * - Gear Ratio Denominator (`0x6091:02` – Shaft Revolutions)
+     * The Gear Ratio is derived from device parameters representing:
+     * - Motor-side revolutions (`0x6091:01`)
+     * - Shaft-side revolutions (`0x6091:02`)
      *
-     * @param deviceRef - Reference to the device for which the Gear Ratio is computed.
-     * @param requestTimeout - Optional timeout in milliseconds for the parameter request (default: 5000).
-     * @returns An Observable that emits the computed Gear Ratio as a number.
+     * Additionally, encoder assignments for the torque and position control loops
+     * are retrieved to determine whether an external mechanical ratio is present.
+     *
+     * If both control loops use the same encoder source (non-zero and equal),
+     * the returned ratio is `1`, indicating no external mechanical reduction.
+     *
+     * Otherwise, the ratio is computed as:
+     *
+     *    motorRevolutions / shaftRevolutions
+     *
+     * If shaftRevolutions is `0` or unavailable, a fallback value of `1` is returned.
+     *
+     * @param deviceRef Reference to the device whose Gear Ratio is computed.
+     * @param loadFromCache If true, previously cached parameter values will be used instead of initiating device requests.
+     * @param requestTimeout Timeout (in milliseconds) applied when reading parameter values from the device. Defaults to `5000`.
+     *
+     * @returns An Observable emitting a numeric Gear Ratio.
      */
-    computeGearRatio(deviceRef, requestTimeout = 5000) {
+    computeGearRatio(deviceRef, loadFromCache = false, requestTimeout = 5000) {
         return this.getParameterValues([
-            [deviceRef, 0x6091, 1],
-            [deviceRef, 0x6091, 2], // Gear Ratio Denominator (`0x6091:02` – Shaft Revolutions)
-        ], false, requestTimeout).pipe((0, operators_1.map)((values) => values[0] / values[1]));
+            [deviceRef, 0x6091, 0x01],
+            [deviceRef, 0x6091, 0x02],
+            [deviceRef, 0x2010, 0x0c],
+            [deviceRef, 0x2012, 0x09], // Position controller encoder source
+        ], loadFromCache, requestTimeout).pipe((0, operators_1.map)((values) => {
+            const [motorRevolutions, shaftRevolutions, torqueControllerEncoderSource, positionControllerEncoderSource] = values;
+            return (0, device_1.computeGearRatio)({
+                motorRevolutions,
+                shaftRevolutions,
+                torqueControllerEncoderSource,
+                positionControllerEncoderSource,
+            });
+        }));
     }
     /**
      * Save the modified parameter values to the config.csv file so that they are used the next time the device is power cycled.
@@ -3762,38 +3786,6 @@ class MotionMasterReqResClient {
             }));
         }));
     }
-    // TODO: Move to another file
-    getMaxValuePercentageColor(percentage) {
-        if (percentage >= 50 && percentage <= 100) {
-            return '#6ba853';
-        }
-        else if (percentage > 20 && percentage < 50) {
-            return '#aeb303';
-        }
-        else if (percentage > 0 && percentage <= 20) {
-            return '#e69138';
-        }
-        else if (percentage <= 0) {
-            return '#fb262e';
-        }
-        return '';
-    }
-    // TODO: Move to another file
-    getMaxValuePercentageLabel(percentage) {
-        if (percentage >= 50 && percentage <= 100) {
-            return 'Calibration was successful. Encoder system is robust to mechanical displacements and temperature expansions.';
-        }
-        else if (percentage > 20 && percentage < 50) {
-            return 'Calibration was successful. Encoder system is robust to small mechanical displacements and temperature expansions.';
-        }
-        else if (percentage > 0 && percentage <= 20) {
-            return 'Calibration was successful. Mechanical displacement and temperature expansions should be avoided.';
-        }
-        else if (percentage <= 0) {
-            return "Phase error is too high. The absolute position can't be computed reliably. Adjust mechanical position and repeat calibration.";
-        }
-        return '';
-    }
     /**
      * Checks the Circulo encoder error status registers for a specified encoder ordinal.
      *
@@ -4168,35 +4160,6 @@ class MotionMasterReqResClient {
             }
         }));
     }
-    /**
-     * Reads the motor and shaft revolutions from a device and calculates the gear ratio.
-     *
-     * The gear ratio is defined as the number of motor revolutions per one shaft revolution:
-     *
-     *   gearRatio = motorRev / shaftRev
-     *
-     * If either motorRev or shaftRev is zero or negative, the function returns a default value of 1.
-     *
-     * @param deviceRef - Reference to the device from which to read the values.
-     * @returns A Promise that resolves to the gear ratio (positive number). Returns 1 if the readings are invalid.
-     *
-     * @remarks
-     * - Both motorRev and shaftRev are read via `upload()` from the device object dictionary at index 0x6091.
-     * - Ensure that `upload()` returns numeric values and not raw buffers.
-     * - This function assumes positive values; a negative value may indicate an error or reversed rotation.
-     */
-    getGearRatio(deviceRef) {
-        return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            const motorRev = yield this.upload(deviceRef, 0x6091, 1);
-            const shaftRev = yield this.upload(deviceRef, 0x6091, 2);
-            if (motorRev > 0 && shaftRev > 0) {
-                return motorRev / shaftRev;
-            }
-            else {
-                return 1;
-            }
-        });
-    }
     /**
      * Retrieves the PDO mapping for the given device.
      *