motion-master-client 0.0.89 → 0.0.90
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.
package/package.json
CHANGED
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@@ -22,7 +22,7 @@ export declare class IntegroEncoderCalibration {
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/**
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* Set velocity profile.
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*/
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25
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-
setVelocityProfile(velocityProfile: VelocityProfile): Promise<void>;
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25
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+
setVelocityProfile(velocityProfile: VelocityProfile, accMultiplier?: number): Promise<void>;
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/**
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* Write encoder register value and validate response.
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*/
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@@ -20,13 +20,13 @@ class IntegroEncoderCalibration {
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};
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this.lookupTableVelocityProfileDirection1 = {
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target: 3000,
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acceleration:
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deceleration:
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acceleration: 6000,
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deceleration: 6000, // RPM/s
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};
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this.lookupTableVelocityProfileDirection2 = {
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target: -3000,
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acceleration:
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deceleration:
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acceleration: 6000,
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deceleration: 6000, // RPM/s
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};
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}
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start() {
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@@ -41,7 +41,7 @@ class IntegroEncoderCalibration {
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this.notifications$.next('Triggering automatic calibration of the POA by setting register 0x25 to 0x09.');
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yield this.writeEncoderRegisterValueAndValidateResponse(0x25, 0x09);
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// Convert the POE calibration velocity profile values and update the device.
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-
yield this.setVelocityProfile(this.poeCalibrationVelocityProfile);
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yield this.setVelocityProfile(this.poeCalibrationVelocityProfile, 4);
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this.notifications$.next('Setting modes of operation to Profile velocity mode and transitioning to Operation enabled CiA402 state.');
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yield (0, rxjs_1.lastValueFrom)(this.client.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_VELOCITY_MODE));
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yield this.client.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
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@@ -60,20 +60,20 @@ class IntegroEncoderCalibration {
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yield this.writeEncoderRegisterValueAndValidateResponse(0x25, 0x00);
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this.notifications$.next('Running the motor at a constant speed in one direction.');
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// Run the motor at constant speed in one direction.
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-
this.setVelocityProfile(this.lookupTableVelocityProfileDirection1);
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this.setVelocityProfile(this.lookupTableVelocityProfileDirection1, 2);
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yield (0, util_1.resolveAfter)(500);
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this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
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yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
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-
yield (0, util_1.resolveAfter)(
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yield (0, util_1.resolveAfter)(3000);
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yield this.client.request.download(this.deviceRef, 0x60FF, 0, 0);
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yield (0, util_1.resolveAfter)(500);
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this.notifications$.next('Reversing the rotation direction.');
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// Reverse the rotation direction.
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-
this.setVelocityProfile(this.lookupTableVelocityProfileDirection2);
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this.setVelocityProfile(this.lookupTableVelocityProfileDirection2, 2);
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yield (0, util_1.resolveAfter)(500);
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this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
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yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
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-
yield (0, util_1.resolveAfter)(
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yield (0, util_1.resolveAfter)(3000);
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yield this.client.request.download(this.deviceRef, 0x60FF, 0, 0);
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yield (0, util_1.resolveAfter)(500);
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this.notifications$.next('Re-enabling POA by writing 0x01 to the encoder register 0x25.');
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@@ -151,7 +151,7 @@ class IntegroEncoderCalibration {
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/**
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* Set velocity profile.
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*/
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-
setVelocityProfile(velocityProfile) {
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setVelocityProfile(velocityProfile, accMultiplier = 2) {
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var _a, _b;
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return tslib_1.__awaiter(this, void 0, void 0, function* () {
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const vp = Object.assign({}, velocityProfile); // make a copy
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@@ -162,8 +162,8 @@ class IntegroEncoderCalibration {
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// If it's higher than the maximum motor speed, set it to 95% of the maximum motor speed and update acceleration and deceleration accordingly.
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if (maxMotorSpeed < vp.target) {
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vp.target = maxMotorSpeed * 0.95;
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vp.acceleration = vp.target *
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vp.
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vp.acceleration = vp.target * accMultiplier;
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vp.deceleration = vp.target * accMultiplier;
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}
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// Convert the velocity profile values using the user-configured SI unit velocity and Feed constant.
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for (let [key, value] of Object.entries(vp)) {
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@@ -1 +1 @@
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1
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-
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1
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