motion-master-client 0.0.98 → 0.0.100
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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@@ -65,7 +65,7 @@ class IntegroEncoderCalibration {
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65
65
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yield (0, util_1.resolveAfter)(500);
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66
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this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
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yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
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68
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-
yield (0, util_1.resolveAfter)(
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68
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yield (0, util_1.resolveAfter)(7000);
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69
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yield this.client.request.download(this.deviceRef, 0x60FF, 0, 0);
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yield (0, util_1.resolveAfter)(500);
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this.notifications$.next('Reversing the rotation direction.');
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@@ -74,7 +74,7 @@ class IntegroEncoderCalibration {
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yield (0, util_1.resolveAfter)(500);
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this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
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yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
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77
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-
yield (0, util_1.resolveAfter)(
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77
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+
yield (0, util_1.resolveAfter)(7000);
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yield this.client.request.download(this.deviceRef, 0x60FF, 0, 0);
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yield (0, util_1.resolveAfter)(500);
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this.notifications$.next('Re-enabling POA by writing 0x01 to the encoder register 0x25.');
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@@ -160,10 +160,11 @@ class IntegroEncoderCalibration {
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const feedConstant = yield (0, rxjs_1.lastValueFrom)(this.client.request.getFeedConstant(this.deviceRef));
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161
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// The velocity target value should not exceed the maximum motor speed.
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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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163
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-
if (
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164
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vp.target
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165
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-
vp.
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166
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-
vp.
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163
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if (Math.abs(vp.target) > maxMotorSpeed) {
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164
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const sgn = vp.target < 0 ? -1 : 1;
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165
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vp.target = sgn * maxMotorSpeed * 0.95;
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166
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vp.acceleration = Math.abs(vp.target) * accMultiplier;
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167
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vp.deceleration = Math.abs(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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+
{"version":3,"file":"integro-encoder-calibration.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/integro-encoder-calibration.ts"],"names":[],"mappings":";;;;AAAA,+BAAwE;AAExE,qCAAwG;AAExG,qCAAyD;AACzD,6CAAiE;AACjE,iCAAsC;AACtC,uDAAsD;AAQtD,MAAa,yBAAyB;IAsBpC,YACU,MAA0B,EAClB,SAAoB;QAD5B,WAAM,GAAN,MAAM,CAAoB;QAClB,cAAS,GAAT,SAAS,CAAW;QAtBtB,mBAAc,GAAG,IAAI,cAAO,EAAU,CAAC;QAEtC,kCAA6B,GAAoB;YAChE,MAAM,EAAE,IAAI;YACZ,YAAY,EAAE,IAAI;YAClB,YAAY,EAAE,IAAI,EAAE,QAAQ;SAC7B,CAAC;QAEe,yCAAoC,GAAoB;YACvE,MAAM,EAAE,IAAI;YACZ,YAAY,EAAE,IAAI;YAClB,YAAY,EAAE,IAAI,EAAE,QAAQ;SAC7B,CAAC;QAEe,yCAAoC,GAAoB;YACvE,MAAM,EAAE,CAAC,IAAI;YACb,YAAY,EAAE,IAAI;YAClB,YAAY,EAAE,IAAI,EAAE,QAAQ;SAC7B,CAAC;IAKE,CAAC;IAEC,KAAK;;YACT,MAAM,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;YAEjC,yJAAyJ;YACzJ,yDAAyD;YACzD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,0BAA0B,SAAS,oDAAoD,CAAC,CAAC;YAClH,MAAM,IAAI,CAAC,cAAc,EAAE,CAAC;YAE5B,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,4EAA4E,CAAC,CAAC;YACvG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,sCAAsC,CAAC,SAAS,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YAElH,4DAA4D;YAC5D,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+EAA+E,CAAC,CAAC;YAC1G,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;YAEpE,6EAA6E;YAC7E,MAAM,IAAI,CAAC,kBAAkB,CAAC,IAAI,CAAC,6BAA6B,EAAE,CAAC,CAAC,CAAC;YAErE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,0GAA0G,CAAC,CAAA;YACpI,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,mBAAmB,CAAC,SAAS,EAAE,yBAAgB,CAAC,qBAAqB,CAAC,CAAC,CAAC;YAChH,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,uBAAuB,CAAC,SAAS,EAAE,oBAAW,CAAC,iBAAiB,CAAC,CAAC;YAE5F,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+FAA+F,CAAC,CAAC;YAE1H,0GAA0G;YAC1G,MAAM,iBAAiB,GAAG,MAAM,IAAA,oBAAa,EAC3C,IAAA,YAAK,EAAC,GAAG,EAAE,CAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,SAAS,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,IAAI,CAC/H,IAAA,aAAM,EAAC,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC,EACjC,IAAA,gBAAS,EAAC,iBAAiB,CAAC,EAAE,CAAC,CAAA,iBAAiB,aAAjB,iBAAiB,uBAAjB,iBAAiB,CAAE,mBAAmB,MAAK,IAAI,EAAE,IAAI,CAAC,CACtF,CAAC,CACH,CAAC;YAEF,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;YACjE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAAiC,CAAC,IAAI,CAAC,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,CAAC,CAAC;YAEzG,IAAI,iBAAiB,CAAC,mBAAmB,KAAK,IAAI,EAAE;gBAClD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,sHAAsH,CAAC,CAAC;gBACjJ,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;aACrE;YAED,yBAAyB;YAEzB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,qFAAqF,CAAC,CAAC;YAChH,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;YAEpE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,yDAAyD,CAAC,CAAC;YAEpF,oDAAoD;YAEpD,IAAI,CAAC,kBAAkB,CAAC,IAAI,CAAC,oCAAoC,EAAE,CAAC,CAAC,CAAC;YAEtE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YACxB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,CAAC,CAAC;YACzE,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAEzE,MAAM,IAAA,mBAAY,EAAC,IAAI,CAAC,CAAC;YAEzB,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;YACjE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mCAAmC,CAAC,CAAC;YAE9D,kCAAkC;YAElC,IAAI,CAAC,kBAAkB,CAAC,IAAI,CAAC,oCAAoC,EAAE,CAAC,CAAC,CAAC;YAEtE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YACxB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,CAAC,CAAC;YACzE,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAEzE,MAAM,IAAA,mBAAY,EAAC,IAAI,CAAC,CAAC;YAEzB,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;YACjE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+DAA+D,CAAC,CAAC;YAC1F,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;YAEpE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,6EAA6E,CAAC,CAAC;YACxG,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAEzE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,oCAAoC,CAAC,CAAC;YAC/D,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,SAAS,CAAC,CAAC;YAE/C,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+EAA+E,CAAC,CAAC;YAC1G,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,sCAAsC,CAAC,SAAS,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;QACpH,CAAC;KAAA;IAED;;OAEG;IACG,cAAc;;;YAClB,MAAM,MAAM,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,aAAa,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC;YAEtF,yBAAyB;YACzB,IAAI,CAAC,MAAM,EAAE;gBACX,MAAM,IAAI,KAAK,CAAC,oEAAoE,CAAC,CAAC;aACvF;YAED,8BAA8B;YAC9B,IAAI,CAAC,IAAA,mCAAiB,EAAC,MAAA,MAAA,MAAM,CAAC,mBAAmB,0CAAE,MAAM,0CAAE,EAAE,EAAE,SAAS,CAAC,EAAE;gBACzE,MAAM,IAAI,KAAK,CAAC,4DAA4D,CAAC,CAAC;aAC/E;YAED,MAAM,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;YAEjC,IAAI,CAAC,SAAS,EAAE;gBACd,MAAM,IAAI,KAAK,CAAC,2EAA2E,CAAC,CAAC;aAC9F;YAED,gGAAgG;YAChG,MAAM,+BAA+B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAC/F,IAAI,+BAA+B,KAAK,CAAC,EAAE;gBACzC,MAAM,yBAAyB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;gBACzF,IAAI,yBAAyB,KAAK,CAAC,EAAE;oBACnC,MAAM,IAAI,KAAK,CAAC,6FAA6F,CAAC,CAAC;iBAChH;aACF;iBAAM;gBACL,MAAM,+BAA+B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,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@@ -6,7 +6,7 @@ import { MotionMasterReqResClient } from "./motion-master-req-res-client";
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|
|
6
6
|
import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
|
|
7
7
|
import { DeviceParameterIds, DeviceRef, ParameterValueType } from "./types";
|
|
8
8
|
import { DeviceParameter } from "./device-parameter";
|
|
9
|
-
export declare function createMotionMasterClient(hostname: string): MotionMasterClient;
|
|
9
|
+
export declare function createMotionMasterClient(hostname: string, pingSystemInterval?: number, systemAliveTimeout?: number): MotionMasterClient;
|
|
10
10
|
export declare class MotionMasterClient {
|
|
11
11
|
readonly reqResSocket: MotionMasterReqResSocket;
|
|
12
12
|
readonly pubSubSocket: MotionMasterPubSubSocket;
|
|
@@ -9,12 +9,12 @@ const motion_master_req_res_client_1 = require("./motion-master-req-res-client")
|
|
|
9
9
|
const motion_master_req_res_web_socket_1 = require("./motion-master-req-res-web-socket");
|
|
10
10
|
const operators_1 = require("./operators");
|
|
11
11
|
const types_1 = require("./types");
|
|
12
|
-
function createMotionMasterClient(hostname) {
|
|
12
|
+
function createMotionMasterClient(hostname, pingSystemInterval = 250, systemAliveTimeout = 1000) {
|
|
13
13
|
const reqResSocket = new motion_master_req_res_web_socket_1.MotionMasterReqResWebSocket();
|
|
14
14
|
const pubSubSocket = new motion_master_pub_sub_web_socket_1.MotionMasterPubSubWebSocket();
|
|
15
15
|
const client = new MotionMasterClient(reqResSocket, pubSubSocket);
|
|
16
16
|
const clientId = (0, uuid_1.v4)();
|
|
17
|
-
reqResSocket.open(`ws://${hostname}:63524?clientId=${clientId}
|
|
17
|
+
reqResSocket.open(`ws://${hostname}:63524?clientId=${clientId}`, pingSystemInterval, systemAliveTimeout);
|
|
18
18
|
pubSubSocket.open(`ws://${hostname}:63525?clientId=${clientId}`);
|
|
19
19
|
return client;
|
|
20
20
|
}
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"motion-master-client.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/motion-master-client.ts"],"names":[],"mappings":";;;AAAA,+BAAmJ;AACnJ,+BAA0B;AAE1B,iFAA0E;AAE1E,yFAAiF;AACjF,iFAA0E;AAE1E,yFAAiF;AACjF,2CAAwL;AACxL,mCAAiG;AAGjG,SAAgB,wBAAwB,CAAC,QAAgB;
|
|
1
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+
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