node-poweredup 10.0.0 → 10.1.0

package/dist/consts.d.ts

@@ -642,4 +642,44 @@ export declare enum MarioColor {
     BROWN = 27136,
     CYAN = 16897
 }
+/**
+ * @typedef TiltDirection
+ * @param {number} NEUTRAL 0
+ * @param {number} BACKWARD 3
+ * @param {number} RIGHT 5
+ * @param {number} LEFT 7
+ * @param {number} FORWARD 9
+ * @param {number} UNKNOWN 10
+ */
+export declare enum TiltDirection {
+    NEUTRAL = 0,
+    BACKWARD = 3,
+    RIGHT = 5,
+    LEFT = 7,
+    FORWARD = 9,
+    UNKNOWN = 10
+}
+/**
+ * @typedef CommandFeedback
+ * @param {number} TRANSMISSION_PENDING 0x00 waiting for previous commands to complete transmission or execution
+ * @param {number} TRANSMISSION_BUSY 0x10 waiting for device to acknowledge reception
+ * @param {number} TRANSMISSION_DISCARDED 0x44 interrupt command has been recieved or device disconnected
+ * @param {number} EXECUTION_PENDING 0x20 device is waiting for previous command to complete
+ * @param {number} EXECUTION_BUSY 0x21 device is executing the command
+ * @param {number} EXECUTION_DISCARDED 0x24 device discarded the command e.g. due to interrupt
+ * @param {number} EXECUTION_COMPLETED 0x22 device reported successful completion of command
+ * @param {number} FEEDBACK_MISSING 0x66 device disconnected or failed to report feedback
+ * @param {number} FEEDBACK_DISABLED 0x26 feedback not implemented for this command
+ */
+export declare enum CommandFeedback {
+    TRANSMISSION_PENDING = 0,
+    TRANSMISSION_BUSY = 16,
+    TRANSMISSION_DISCARDED = 68,
+    EXECUTION_PENDING = 32,
+    EXECUTION_BUSY = 33,
+    EXECUTION_DISCARDED = 36,
+    EXECUTION_COMPLETED = 34,
+    FEEDBACK_MISSING = 102,
+    FEEDBACK_DISABLED = 38
+}
 //# sourceMappingURL=consts.d.ts.map

package/dist/consts.d.ts.map

@@ -1 +1 @@
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package/dist/consts.js

@@ -672,4 +672,46 @@ export var MarioColor;
     MarioColor[MarioColor["BROWN"] = 27136] = "BROWN";
     MarioColor[MarioColor["CYAN"] = 16897] = "CYAN";
 })(MarioColor || (MarioColor = {}));
+/**
+ * @typedef TiltDirection
+ * @param {number} NEUTRAL 0
+ * @param {number} BACKWARD 3
+ * @param {number} RIGHT 5
+ * @param {number} LEFT 7
+ * @param {number} FORWARD 9
+ * @param {number} UNKNOWN 10
+ */
+export var TiltDirection;
+(function (TiltDirection) {
+    TiltDirection[TiltDirection["NEUTRAL"] = 0] = "NEUTRAL";
+    TiltDirection[TiltDirection["BACKWARD"] = 3] = "BACKWARD";
+    TiltDirection[TiltDirection["RIGHT"] = 5] = "RIGHT";
+    TiltDirection[TiltDirection["LEFT"] = 7] = "LEFT";
+    TiltDirection[TiltDirection["FORWARD"] = 9] = "FORWARD";
+    TiltDirection[TiltDirection["UNKNOWN"] = 10] = "UNKNOWN";
+})(TiltDirection || (TiltDirection = {}));
+/**
+ * @typedef CommandFeedback
+ * @param {number} TRANSMISSION_PENDING 0x00 waiting for previous commands to complete transmission or execution
+ * @param {number} TRANSMISSION_BUSY 0x10 waiting for device to acknowledge reception
+ * @param {number} TRANSMISSION_DISCARDED 0x44 interrupt command has been recieved or device disconnected
+ * @param {number} EXECUTION_PENDING 0x20 device is waiting for previous command to complete
+ * @param {number} EXECUTION_BUSY 0x21 device is executing the command
+ * @param {number} EXECUTION_DISCARDED 0x24 device discarded the command e.g. due to interrupt
+ * @param {number} EXECUTION_COMPLETED 0x22 device reported successful completion of command
+ * @param {number} FEEDBACK_MISSING 0x66 device disconnected or failed to report feedback
+ * @param {number} FEEDBACK_DISABLED 0x26 feedback not implemented for this command
+ */
+export var CommandFeedback;
+(function (CommandFeedback) {
+    CommandFeedback[CommandFeedback["TRANSMISSION_PENDING"] = 0] = "TRANSMISSION_PENDING";
+    CommandFeedback[CommandFeedback["TRANSMISSION_BUSY"] = 16] = "TRANSMISSION_BUSY";
+    CommandFeedback[CommandFeedback["TRANSMISSION_DISCARDED"] = 68] = "TRANSMISSION_DISCARDED";
+    CommandFeedback[CommandFeedback["EXECUTION_PENDING"] = 32] = "EXECUTION_PENDING";
+    CommandFeedback[CommandFeedback["EXECUTION_BUSY"] = 33] = "EXECUTION_BUSY";
+    CommandFeedback[CommandFeedback["EXECUTION_DISCARDED"] = 36] = "EXECUTION_DISCARDED";
+    CommandFeedback[CommandFeedback["EXECUTION_COMPLETED"] = 34] = "EXECUTION_COMPLETED";
+    CommandFeedback[CommandFeedback["FEEDBACK_MISSING"] = 102] = "FEEDBACK_MISSING";
+    CommandFeedback[CommandFeedback["FEEDBACK_DISABLED"] = 38] = "FEEDBACK_DISABLED";
+})(CommandFeedback || (CommandFeedback = {}));
 //# sourceMappingURL=consts.js.map

package/dist/consts.js.map

@@ -1 +1 @@
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package/dist/devices/absolutemotor.d.ts

@@ -14,22 +14,24 @@ export declare class AbsoluteMotor extends TachoMotor {
      * Rotate a motor by a given angle.
      * @param {number} angle Absolute position the motor should go to (degrees from 0).
      * @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
-     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
      */
-    gotoAngle(angle: [number, number] | number, speed?: number): Promise<void>;
+    gotoAngle(angle: [number, number] | number, speed?: number, interrupt?: boolean): Promise<Consts.CommandFeedback> | undefined;
     /**
      * Rotate motor to real zero position.
      *
      * Real zero is marked on Technic angular motors (SPIKE Prime). It is also available on Technic linear motors (Control+) but is unmarked.
      * @param {number} [speed=100] Speed between 1 - 100. Note that this will always take the shortest path to zero.
-     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
      */
-    gotoRealZero(speed?: number): Promise<void>;
+    gotoRealZero(speed?: number): Promise<Consts.CommandFeedback>;
     /**
      * Reset zero to current position
-     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
      */
-    resetZero(): Promise<void>;
+    resetZero(interrupt?: boolean): Promise<Consts.CommandFeedback> | undefined;
 }
 export declare enum Mode {
     ROTATION = 2,

package/dist/devices/absolutemotor.d.ts.map

@@ -1 +1 @@
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package/dist/devices/absolutemotor.js

@@ -31,42 +31,37 @@ export class AbsoluteMotor extends TachoMotor {
      * Rotate a motor by a given angle.
      * @param {number} angle Absolute position the motor should go to (degrees from 0).
      * @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
-     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
      */
-    gotoAngle(angle, speed = 100) {
+    gotoAngle(angle, speed = 100, interrupt = false) {
         if (!this.isVirtualPort && angle instanceof Array) {
             throw new Error("Only virtual ports can accept multiple positions");
         }
         if (this.isWeDo2SmartHub) {
             throw new Error("Absolute positioning is not available on the WeDo 2.0 Smart Hub");
         }
-        this.cancelEventTimer();
-        return new Promise((resolve) => {
-            if (speed === undefined || speed === null) {
-                speed = 100;
-            }
-            let message;
-            if (angle instanceof Array) {
-                message = Buffer.from([0x81, this.portId, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
-                message.writeInt32LE(normalizeAngle(angle[0]), 4);
-                message.writeInt32LE(normalizeAngle(angle[1]), 8);
-            }
-            else {
-                message = Buffer.from([0x81, this.portId, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
-                message.writeInt32LE(normalizeAngle(angle), 4);
-            }
-            this.send(message);
-            this._finishedCallbacks.push(() => {
-                return resolve();
-            });
-        });
+        if (speed === undefined || speed === null) {
+            speed = 100;
+        }
+        let message;
+        if (angle instanceof Array) {
+            message = Buffer.from([0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
+            message.writeInt32LE(normalizeAngle(angle[0]), 1);
+            message.writeInt32LE(normalizeAngle(angle[1]), 5);
+        }
+        else {
+            message = Buffer.from([0x0d, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
+            message.writeInt32LE(normalizeAngle(angle), 1);
+        }
+        return this.sendPortOutputCommand(message, interrupt);
     }
     /**
      * Rotate motor to real zero position.
      *
      * Real zero is marked on Technic angular motors (SPIKE Prime). It is also available on Technic linear motors (Control+) but is unmarked.
      * @param {number} [speed=100] Speed between 1 - 100. Note that this will always take the shortest path to zero.
-     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
      */
     gotoRealZero(speed = 100) {
         return new Promise((resolve) => {
@@ -85,7 +80,7 @@ export class AbsoluteMotor extends TachoMotor {
                     if (oldMode) {
                         this.subscribe(oldMode);
                     }
-                    return resolve();
+                    return resolve(Consts.CommandFeedback.FEEDBACK_DISABLED);
                 }
             });
             this.requestUpdate();
@@ -93,14 +88,12 @@ export class AbsoluteMotor extends TachoMotor {
     }
     /**
      * Reset zero to current position
-     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
      */
-    resetZero() {
-        return new Promise((resolve) => {
-            const data = Buffer.from([0x81, this.portId, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
-            this.send(data);
-            return resolve();
-        });
+    resetZero(interrupt = false) {
+        const data = Buffer.from([0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
+        return this.sendPortOutputCommand(data, interrupt);
     }
 }
 export var Mode;

package/dist/devices/absolutemotor.js.map

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package/dist/devices/basicmotor.d.ts

@@ -12,26 +12,27 @@ export declare class BasicMotor extends Device {
     /**
      * Set the motor power.
      * @param {number} power For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
-    setPower(power: number, interrupt?: boolean): Promise<void>;
+    setPower(power: number, interrupt?: boolean): Promise<Consts.CommandFeedback> | undefined;
     /**
      * Ramp the motor power.
      * @param {number} fromPower For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
      * @param {number} toPower For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
      * @param {number} time How long the ramp should last (in milliseconds).
-     * @returns {Promise} Resolved upon successful completion of command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
-    rampPower(fromPower: number, toPower: number, time: number): Promise<unknown>;
+    rampPower(fromPower: number, toPower: number, time: number): Promise<Consts.CommandFeedback> | undefined;
     /**
-     * Stop the motor.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * Stop the motor. Previous commands that have not completed are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
-    stop(): Promise<void>;
+    stop(): Promise<Consts.CommandFeedback> | undefined;
     /**
-     * Brake the motor.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * Brake the motor. Previous commands that have not completed are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
-    brake(): Promise<void>;
+    brake(): Promise<Consts.CommandFeedback> | undefined;
 }
 //# sourceMappingURL=basicmotor.d.ts.map

package/dist/devices/basicmotor.d.ts.map

@@ -1 +1 @@
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package/dist/devices/basicmotor.js

@@ -12,46 +12,40 @@ export class BasicMotor extends Device {
     /**
      * Set the motor power.
      * @param {number} power For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
-    setPower(power, interrupt = true) {
-        if (interrupt) {
-            this.cancelEventTimer();
-        }
-        return this.writeDirect(0x00, Buffer.from([mapSpeed(power)]));
+    setPower(power, interrupt = false) {
+        return this.writeDirect(0x00, Buffer.from([mapSpeed(power)]), interrupt);
     }
     /**
      * Ramp the motor power.
      * @param {number} fromPower For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
      * @param {number} toPower For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
      * @param {number} time How long the ramp should last (in milliseconds).
-     * @returns {Promise} Resolved upon successful completion of command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
     rampPower(fromPower, toPower, time) {
-        this.cancelEventTimer();
-        return new Promise((resolve) => {
-            calculateRamp(this, fromPower, toPower, time)
-                .on("changePower", (power) => {
-                this.setPower(power, false);
-            })
-                .on("finished", resolve);
+        const powerValues = calculateRamp(fromPower, toPower, time);
+        powerValues.forEach(value => {
+            this.setPower(value);
+            this.addPortOutputSleep(Math.round(time / powerValues.length));
         });
+        return this.setPower(toPower);
     }
     /**
-     * Stop the motor.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * Stop the motor. Previous commands that have not completed are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
     stop() {
-        this.cancelEventTimer();
-        return this.setPower(0);
+        return this.setPower(0, true);
     }
     /**
-     * Brake the motor.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * Brake the motor. Previous commands that have not completed are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
     brake() {
-        this.cancelEventTimer();
-        return this.setPower(Consts.BrakingStyle.BRAKE);
+        return this.setPower(Consts.BrakingStyle.BRAKE, true);
     }
 }
 //# sourceMappingURL=basicmotor.js.map

package/dist/devices/basicmotor.js.map

@@ -1 +1 @@
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package/dist/devices/colordistancesensor.d.ts

@@ -1,5 +1,6 @@
 import { Device } from "./device.js";
 import { IDeviceInterface } from "../interfaces.js";
+import * as Consts from "../consts.js";
 /**
  * @class ColorDistanceSensor
  * @extends Device
@@ -12,17 +13,17 @@ export declare class ColorDistanceSensor extends Device {
      *
      * NOTE: Calling this with channel 5-8 with switch off extended channel mode for this receiver.
      * @param {number} channel Channel number, between 1-8
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
-    setPFExtendedChannel(channel: number): Promise<void>;
+    setPFExtendedChannel(channel: number): Promise<Consts.CommandFeedback> | undefined;
     /**
      * Set the power of a Power Functions motor via IR
      * @param {number} channel Channel number, between 1-4
      * @param {string} output Outport port, "RED" (A) or "BLUE" (B)
      * @param {number} power -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
-    setPFPower(channel: number, output: Output, power: number): Promise<void>;
+    setPFPower(channel: number, output: Output, power: number): Promise<Consts.CommandFeedback> | undefined;
     /**
      * Start Power Functions motors running via IR
      *
@@ -30,27 +31,27 @@ export declare class ColorDistanceSensor extends Device {
      * @param {number} channel Channel number, between 1-4
      * @param {number} powerBlue -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
      * @param {number} powerRed -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
-    startPFMotors(channel: number, powerBlue: number, powerRed: number): Promise<void>;
+    startPFMotors(channel: number, powerBlue: number, powerRed: number): Promise<Consts.CommandFeedback> | undefined;
     /**
      * Send a raw Power Functions IR command
      * @param {Buffer} message 2 byte payload making up a Power Functions protocol command. NOTE: Only specify nibbles 1-3, nibble 4 should be zeroed.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
-    sendPFIRMessage(message: Buffer): Promise<void>;
+    sendPFIRMessage(message: Buffer): Promise<Consts.CommandFeedback> | undefined;
     /**
      * Set the color of the LED on the sensor via a color value.
      * @param {Color} color
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
-    setColor(color: number | boolean): Promise<void>;
+    setColor(color: number | boolean): Promise<Consts.CommandFeedback> | undefined;
     /**
      * Set the distance count value.
      * @param {number} count distance count between 0 and 2^32
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
-    setDistanceCount(count: number): Promise<void>;
+    setDistanceCount(count: number): Promise<Consts.CommandFeedback> | undefined;
     private _pfPowerToPWM;
 }
 export declare enum Mode {

package/dist/devices/colordistancesensor.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"colordistancesensor.d.ts","sourceRoot":"","sources":["../../src/devices/colordistancesensor.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,MAAM,EAAE,MAAM,aAAa,CAAC;AAErC,OAAO,EAAE,gBAAgB,EAAE,MAAM,kBAAkB,CAAC;AAEpD,OAAO,KAAK,MAAM,MAAM,cAAc,CAAC;AAGvC;;;GAGG;AACH,qBAAa,mBAAoB,SAAQ,MAAM;gBAE9B,GAAG,EAAE,gBAAgB,EAAE,MAAM,EAAE,MAAM;IAI3C,OAAO,CAAE,OAAO,EAAE,MAAM;IA0I/B;;;;;;OAMG;IACI,oBAAoB,CAAE,OAAO,EAAE,MAAM;IAc5C;;;;;;OAMG;IACI,UAAU,CAAE,OAAO,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM;IAcjE;;;;;;;;OAQG;IACI,aAAa,CAAE,OAAO,EAAE,MAAM,EAAE,SAAS,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM;IAc1E;;;;OAIG;IACI,eAAe,CAAE,OAAO,EAAE,MAAM;IAavC;;;;OAIG;IACI,QAAQ,CAAE,KAAK,EAAE,MAAM,GAAG,OAAO;IAYxC;;;;OAIG;IACI,gBAAgB,CAAE,KAAK,EAAE,MAAM;IAWtC,OAAO,CAAC,aAAa;CAIxB;AAED,oBAAY,IAAI;IACZ,KAAK,IAAO;IACZ,QAAQ,IAAO;IACf,cAAc,IAAO;IACrB,OAAO,IAAO;IACd,OAAO,IAAO;IACd,GAAG,IAAO;IACV,KAAK,IAAO;IACZ,KAAK,IAAO;IACZ,kBAAkB,IAAO;CAC5B;AAED,eAAO,MAAM,OAAO,EAAE;IAAC,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,CAAA;CAQ7C,CAAC;AAEF,oBAAY,MAAM;IACd,GAAG,QAAQ;IACX,IAAI,SAAS;CAChB"}

package/dist/devices/colordistancesensor.js

@@ -135,7 +135,7 @@ export class ColorDistanceSensor extends Device {
      *
      * NOTE: Calling this with channel 5-8 with switch off extended channel mode for this receiver.
      * @param {number} channel Channel number, between 1-8
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     setPFExtendedChannel(channel) {
         let address = 0;
@@ -154,7 +154,7 @@ export class ColorDistanceSensor extends Device {
      * @param {number} channel Channel number, between 1-4
      * @param {string} output Outport port, "RED" (A) or "BLUE" (B)
      * @param {number} power -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     setPFPower(channel, output, power) {
         let address = 0;
@@ -175,7 +175,7 @@ export class ColorDistanceSensor extends Device {
      * @param {number} channel Channel number, between 1-4
      * @param {number} powerBlue -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
      * @param {number} powerRed -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     startPFMotors(channel, powerBlue, powerRed) {
         let address = 0;
@@ -192,7 +192,7 @@ export class ColorDistanceSensor extends Device {
     /**
      * Send a raw Power Functions IR command
      * @param {Buffer} message 2 byte payload making up a Power Functions protocol command. NOTE: Only specify nibbles 1-3, nibble 4 should be zeroed.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     sendPFIRMessage(message) {
         if (this.isWeDo2SmartHub) {
@@ -209,41 +209,35 @@ export class ColorDistanceSensor extends Device {
     /**
      * Set the color of the LED on the sensor via a color value.
      * @param {Color} color
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     setColor(color) {
-        return new Promise((resolve) => {
-            if (color === false) {
-                color = 0;
-            }
-            if (this.isWeDo2SmartHub) {
-                throw new Error("Setting LED color is not available on the WeDo 2.0 Smart Hub");
-            }
-            else {
-                this.subscribe(Mode.LED);
-                this.writeDirect(0x05, Buffer.from([color]));
-            }
-            return resolve();
-        });
+        if (color === false) {
+            color = 0;
+        }
+        if (this.isWeDo2SmartHub) {
+            throw new Error("Setting LED color is not available on the WeDo 2.0 Smart Hub");
+        }
+        else {
+            this.subscribe(Mode.LED);
+            return this.writeDirect(0x05, Buffer.from([color]));
+        }
     }
     /**
      * Set the distance count value.
      * @param {number} count distance count between 0 and 2^32
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     setDistanceCount(count) {
-        return new Promise((resolve) => {
-            if (this.isWeDo2SmartHub) {
-                throw new Error("Setting distance count is not available on the WeDo 2.0 Smart Hub");
-            }
-            else {
-                const payload = Buffer.alloc(4);
-                payload.writeUInt32LE(count % 2 ** 32);
-                // no need to subscribe, can be set in different mode
-                this.writeDirect(0x02, payload);
-            }
-            return resolve();
-        });
+        if (this.isWeDo2SmartHub) {
+            throw new Error("Setting distance count is not available on the WeDo 2.0 Smart Hub");
+        }
+        else {
+            const payload = Buffer.alloc(4);
+            payload.writeUInt32LE(count % 2 ** 32);
+            // no need to subscribe, can be set in different mode
+            return this.writeDirect(0x02, payload);
+        }
     }
     _pfPowerToPWM(power) {
         return power & 15;