motion-master-client 0.0.377 → 0.0.379

package/src/lib/motion-master-req-res-client.d.ts

@@ -1157,6 +1157,23 @@ export declare class MotionMasterReqResClient {
      * If you want to initiate a new set-point while the previous one is still being executed, you need to generate another rising edge of the new set-point bit in the controlword.
      */
     applySetPoint(deviceRef: DeviceRef): Promise<void>;
+    /**
+     * Release brake.
+     *
+     * Releases the brake if one is software-controllable (brakeReleaseStrategy 0x2004:04 !== 0).
+     * Reads current brake status and skips the write if already released, then waits for
+     * waitTime milliseconds before returning.
+     *
+     * @param waitTime - Time in milliseconds to wait after releasing the brake (default: 150).
+     */
+    releaseBrake(deviceRef: DeviceRef, waitTime?: number): Promise<void>;
+    /**
+     * Engage brake.
+     *
+     * Engages the brake if one is software-controllable (brakeReleaseStrategy 0x2004:04 !== 0),
+     * then waits 150ms to ensure the brake is fully applied before returning.
+     */
+    engageBrake(deviceRef: DeviceRef): Promise<void>;
     /**
      * Run OS command.
      *

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

@@ -2260,6 +2260,42 @@ class MotionMasterReqResClient {
             yield this.download(deviceRef, 0x6040, 0, controlword);
         });
     }
+    /**
+     * Release brake.
+     *
+     * Releases the brake if one is software-controllable (brakeReleaseStrategy 0x2004:04 !== 0).
+     * Reads current brake status and skips the write if already released, then waits for
+     * waitTime milliseconds before returning.
+     *
+     * @param waitTime - Time in milliseconds to wait after releasing the brake (default: 150).
+     */
+    releaseBrake(deviceRef, waitTime = 150) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            const [brakeReleaseStrategy, brakeStatus] = (yield this.uploadMany([
+                [deviceRef, 0x2004, 4],
+                [deviceRef, 0x2004, 7],
+            ]));
+            if (brakeReleaseStrategy !== 0 && brakeStatus !== 2) {
+                yield this.download(deviceRef, 0x2004, 7, 2);
+                yield (0, util_1.resolveAfter)(waitTime);
+            }
+        });
+    }
+    /**
+     * Engage brake.
+     *
+     * Engages the brake if one is software-controllable (brakeReleaseStrategy 0x2004:04 !== 0),
+     * then waits 150ms to ensure the brake is fully applied before returning.
+     */
+    engageBrake(deviceRef) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            const brakeReleaseStrategy = yield this.upload(deviceRef, 0x2004, 4);
+            if (brakeReleaseStrategy !== 0) {
+                yield this.download(deviceRef, 0x2004, 7, 1);
+                yield (0, util_1.resolveAfter)(150);
+            }
+        });
+    }
     /**
      * Run OS command.
      *
@@ -4617,7 +4653,6 @@ class MotionMasterReqResClient {
             // Brake-related state restored in finally block
             let brakeReleaseStrategy = 0;
             let brakeStatusInit = 0;
-            let brakePullTime = 0;
             let measurementMethod = 0;
             // Throws if cancellation was requested
             const checkCancelled = () => {
@@ -4625,32 +4660,6 @@ class MotionMasterReqResClient {
                     throw new Error('Offset detection procedure was cancelled.');
                 }
             };
-            // Helper function for brake control based on the initial configuration.
-            //
-            // This function is only executed when the brake release strategy is not 0,
-            // meaning the brake can be controlled via software.
-            //
-            // The function reads the current brake status and releases the brake if it is
-            // not already released, then waits for the configured pull time.
-            const releaseBrake = () => tslib_1.__awaiter(this, void 0, void 0, function* () {
-                if (brakeReleaseStrategy !== 0) {
-                    const brakeStatus = yield this.upload(deviceRef, 0x2004, 7);
-                    if (brakeStatus !== 2) {
-                        yield this.download(deviceRef, 0x2004, 7, 2);
-                        yield (0, util_1.resolveAfter)(brakePullTime);
-                    }
-                }
-            });
-            // Helper function for brake control based on the initial configuration.
-            //
-            // This function engages the brake if it is not already engaged, then waits
-            // briefly to ensure the brake is fully applied before continuing.
-            const engageBrake = () => tslib_1.__awaiter(this, void 0, void 0, function* () {
-                if (brakeReleaseStrategy !== 0) {
-                    yield this.download(deviceRef, 0x2004, 7, 1);
-                    yield (0, util_1.resolveAfter)(150); // Wait for 150ms to ensure brake is fully engaged
-                }
-            });
             const runInternal = () => tslib_1.__awaiter(this, void 0, void 0, function* () {
                 // Determine active steps (either provided subset or all steps)
                 let activeStepIds = stepIds.length > 0 ? [...stepIds] : offset_detection_1.offsetDetectionSteps.map((s) => s.id);
@@ -4667,11 +4676,10 @@ class MotionMasterReqResClient {
                     subscriber.next(steps);
                 }
                 try {
-                    // Read inital brake configuration from device
-                    [brakeReleaseStrategy, brakeStatusInit, brakePullTime, measurementMethod] = (yield this.uploadMany([
+                    // Read initial brake configuration from device
+                    [brakeReleaseStrategy, brakeStatusInit, measurementMethod] = (yield this.uploadMany([
                         [deviceRef, 0x2004, 4],
                         [deviceRef, 0x2004, 7],
-                        [deviceRef, 0x2004, 3],
                         [deviceRef, 0x2009, 3],
                     ]));
                     checkCancelled();
@@ -4697,21 +4705,21 @@ class MotionMasterReqResClient {
                         },
                         polePairDetection: {
                             execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
-                                yield releaseBrake();
+                                yield this.releaseBrake(deviceRef);
                                 return yield (0, rxjs_1.lastValueFrom)(this.runPolePairDetectionOsCommand(deviceRef));
                             }),
                             valueKey: 'numberOfPolePairs',
                         },
                         motorPhaseOrderDetection: {
                             execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
-                                yield releaseBrake();
+                                yield this.releaseBrake(deviceRef);
                                 return yield (0, rxjs_1.lastValueFrom)(this.runMotorPhaseOrderDetectionOsCommand(deviceRef));
                             }),
                             valueKey: 'motorPhaseOrder',
                         },
                         commutationOffsetMeasurement: {
                             execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
-                                measurementMethod === 2 ? yield engageBrake() : yield releaseBrake();
+                                measurementMethod === 2 ? yield this.engageBrake(deviceRef) : yield this.releaseBrake(deviceRef);
                                 return yield (0, rxjs_1.lastValueFrom)(this.runCommutationOffsetMeasurementOsCommand(deviceRef));
                             }),
                             valueKey: 'commutationAngleOffset',