motion-master-client 0.0.94 → 0.0.95
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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@@ -31,11 +31,11 @@ class IntegroEncoderCalibration {
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}
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start() {
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return tslib_1.__awaiter(this, void 0, void 0, function* () {
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34
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+
const deviceRef = this.deviceRef;
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// The calibration procedure should be performed after the drive is fully commissioned, and thus, the drive should be fully operational in Velocity mode.
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// Tuning of the control loop should be done by the user.
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36
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-
this.notifications$.next(
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this.notifications$.next(`Validating the device (${deviceRef}) before starting the Integro encoder calibration.`);
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yield this.validateDevice();
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-
const deviceRef = this.deviceRef;
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this.notifications$.next('Switching the source of the velocity to the value provided by the encoder.');
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yield (0, rxjs_1.lastValueFrom)(this.client.request.runUseInternalEncoderVelocityOsCommand(deviceRef, 1, 10000, 1000, false));
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// Trigger the POA automatic calibration with an OS command.
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@@ -91,16 +91,15 @@ class IntegroEncoderCalibration {
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* Validate device.
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*/
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validateDevice() {
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94
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-
var _a, _b
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94
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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 device = yield (0, rxjs_1.lastValueFrom)(this.client.request.resolveDevice(this.deviceRef));
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-
this.notifications$.next(`Validating device: ${(_b = (_a = device === null || device === void 0 ? void 0 : device.hardwareDescription) === null || _a === void 0 ? void 0 : _a.device) === null || _b === void 0 ? void 0 : _b.serialNumber}`);
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// The device must exist.
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if (!device) {
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throw new Error('No device was found when starting the Integro encoder calibration.');
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}
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// The device must be Integro.
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-
if (!(0, somanet_product_1.isProductIdOfType)((
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102
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if (!(0, somanet_product_1.isProductIdOfType)((_b = (_a = device.hardwareDescription) === null || _a === void 0 ? void 0 : _a.device) === null || _b === void 0 ? void 0 : _b.id, 'Integro')) {
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throw new Error('The device must be an Integro for the encoder calibration.');
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}
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const deviceRef = this.deviceRef;
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@@ -1 +1 @@
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1
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-
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1
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+
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