motion-master-client 0.0.99 → 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.
Files changed (3) hide show
  1. package/package.json +1 -1
  2. package/src/lib/integro-encoder-calibration.js +7 -6
  3. package/src/lib/integro-encoder-calibration.js.map +1 -1
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "motion-master-client",
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- "version": "0.0.99",
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+ "version": "0.0.100",
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  "type": "commonjs",
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  "description": "A library and CLI program used for communicating with Motion Master.",
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  "dependencies": {
package/src/lib/integro-encoder-calibration.js CHANGED
@@ -65,7 +65,7 @@ class IntegroEncoderCalibration {
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  yield (0, util_1.resolveAfter)(500);
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  this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
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  yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
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- yield (0, util_1.resolveAfter)(3000);
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+ yield (0, util_1.resolveAfter)(7000);
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  yield this.client.request.download(this.deviceRef, 0x60FF, 0, 0);
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  yield (0, util_1.resolveAfter)(500);
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  this.notifications$.next('Reversing the rotation direction.');
@@ -74,7 +74,7 @@ class IntegroEncoderCalibration {
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  yield (0, util_1.resolveAfter)(500);
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  this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
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  yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
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- yield (0, util_1.resolveAfter)(3000);
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+ yield (0, util_1.resolveAfter)(7000);
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  yield this.client.request.download(this.deviceRef, 0x60FF, 0, 0);
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  yield (0, util_1.resolveAfter)(500);
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  this.notifications$.next('Re-enabling POA by writing 0x01 to the encoder register 0x25.');
@@ -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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  // 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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- if (maxMotorSpeed < vp.target) {
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- vp.target = maxMotorSpeed * 0.95;
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- vp.acceleration = vp.target * accMultiplier;
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- vp.deceleration = vp.target * accMultiplier;
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+ if (Math.abs(vp.target) > maxMotorSpeed) {
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+ const sgn = vp.target < 0 ? -1 : 1;
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+ vp.target = sgn * maxMotorSpeed * 0.95;
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+ vp.acceleration = Math.abs(vp.target) * accMultiplier;
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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)) {
package/src/lib/integro-encoder-calibration.js.map CHANGED
@@ -1 +1 @@
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