node-poweredup 6.10.0 → 8.0.0

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-poweredup",
-  "version": "6.10.0",
+  "version": "8.0.0",
   "description": "A Javascript module to interface with LEGO Powered Up components.",
   "homepage": "https://github.com/nathankellenicki/node-poweredup/",
   "main": "dist/node/index-node.js",
@@ -11,29 +11,28 @@
     "build:all": "npm run build:node && npm run build:browser",
     "lint": "tslint -c tslint.json \"./src/**/*.ts\"",
     "build": "npm run lint && npm run build:all",
-    "docs": "jsdoc -d docs -c jsdoc.conf.json -t ./node_modules/ink-docstrap/template -R README.md dist/node/**/*.js",
+    "docs": "jsdoc -c .jsdoc.json",
     "all": "npm run build && npm run docs",
     "prepublishOnly": "npm run lint && npm run build:node"
   },
   "author": "Nathan Kellenicki <nathan@kellenicki.com>",
   "license": "MIT",
   "dependencies": {
-    "@abandonware/noble": "1.9.2-13",
-    "compare-versions": "^3.6.0",
-    "debug": "^4.3.1"
+    "@abandonware/noble": "1.9.2-15",
+    "compare-versions": "^4.1.3",
+    "debug": "^4.3.3"
   },
   "devDependencies": {
-    "@types/debug": "4.1.5",
-    "@types/node": "^14.14.37",
-    "@types/web-bluetooth": "0.0.9",
+    "@types/debug": "4.1.7",
+    "@types/node": "^17.0.10",
+    "@types/web-bluetooth": "0.0.12",
     "buffer": "^6.0.3",
-    "ink-docstrap": "^1.3.2",
-    "jsdoc": "^3.6.6",
-    "jsdoc-to-markdown": "^7.0.1",
-    "ts-loader": "^8.1.0",
+    "jsdoc": "^3.5.5",
+    "jsdoc-to-markdown": "^7.1.0",
+    "ts-loader": "^9.2.6",
     "tslint": "^6.1.3",
-    "typescript": "^4.2.3",
-    "webpack": "^5.30.0",
-    "webpack-cli": "^4.6.0"
+    "typescript": "^4.5.4",
+    "webpack": "^5.66.0",
+    "webpack-cli": "^4.9.1"
   }
 }

package/src/color.ts

@@ -0,0 +1,20 @@
+import * as Consts from "./consts";
+
+export class Color {
+
+    private _color: number;
+    private _brightness: number = 100;
+
+    constructor (color: number, brightness?: number) {
+        this._color = color;
+        this._brightness = brightness || 100;
+    }
+
+    public toValue () {
+        if (this._color === Consts.Color.NONE) {
+            return this._color;
+        }
+        return this._color + (Math.round(this._brightness / 10) << 4);
+    }
+
+}

package/src/consts.ts

@@ -3,11 +3,12 @@
  * @property {number} UNKNOWN 0
  * @property {number} WEDO2_SMART_HUB 1
  * @property {number} MOVE_HUB 2
- * @property {number} POWERED_UP_HUB 3
- * @property {number} POWERED_UP_REMOTE 4
- * @property {number} DUPLO_TRAIN_HUB 5
- * @property {number} CONTROL_PLUS_HUB 6
+ * @property {number} HUB 3
+ * @property {number} REMOTE_CONTROL 4
+ * @property {number} DUPLO_TRAIN_BASE 5
+ * @property {number} TECHNIC_MEDIUM_HUB 6
  * @property {number} MARIO 7
+ * @property {number} TECHNIC_SMALL_HUB 8
  */
 export enum HubType {
     UNKNOWN = 0,
@@ -18,6 +19,7 @@ export enum HubType {
     DUPLO_TRAIN_BASE = 5,
     TECHNIC_MEDIUM_HUB = 6,
     MARIO = 7,
+    TECHNIC_SMALL_HUB = 8,
 }
 
 
@@ -30,27 +32,42 @@ export const HubTypeNames = HubType;
  * @property {number} UNKNOWN 0
  * @property {number} SIMPLE_MEDIUM_LINEAR_MOTOR 1
  * @property {number} TRAIN_MOTOR 2
- * @property {number} LED_LIGHTS 8
- * @property {number} VOLTAGE 20
- * @property {number} CURRENT 21
- * @property {number} PIEZO_TONE 22
- * @property {number} RGB_LIGHT 23
- * @property {number} WEDO2_TILT 34
- * @property {number} WEDO2_DISTANCE 35
+ * @property {number} LIGHT 8
+ * @property {number} VOLTAGE_SENSOR 20
+ * @property {number} CURRENT_SENSOR 21
+ * @property {number} PIEZO_BUZZER 22
+ * @property {number} HUB_LED 23
+ * @property {number} TILT_SENSOR 34
+ * @property {number} MOTION_SENSOR 35
  * @property {number} COLOR_DISTANCE_SENSOR 37
  * @property {number} MEDIUM_LINEAR_MOTOR 38
  * @property {number} MOVE_HUB_MEDIUM_LINEAR_MOTOR 39
- * @property {number} BOOST_TILT 40
+ * @property {number} MOVE_HUB_TILT_SENSOR 40
  * @property {number} DUPLO_TRAIN_BASE_MOTOR 41
  * @property {number} DUPLO_TRAIN_BASE_SPEAKER 42
- * @property {number} DUPLO_TRAIN_BASE_COLOR 43
+ * @property {number} DUPLO_TRAIN_BASE_COLOR_SENSOR 43
  * @property {number} DUPLO_TRAIN_BASE_SPEEDOMETER 44
- * @property {number} CONTROL_PLUS_LARGE_MOTOR 46
- * @property {number} CONTROL_PLUS_XLARGE_MOTOR 47
- * @property {number} POWERED_UP_REMOTE_BUTTON 55
- * @property {number} RSSI 56
- * @property {number} CONTROL_PLUS_ACCELEROMETER 58
- * @property {number} CONTROL_PLUS_TILT 59
+ * @property {number} TECHNIC_LARGE_LINEAR_MOTOR 46
+ * @property {number} TECHNIC_XLARGE_LINEAR_MOTOR 47
+ * @property {number} TECHNIC_MEDIUM_ANGULAR_MOTOR 48
+ * @property {number} TECHNIC_LARGE_ANGULAR_MOTOR 49
+ * @property {number} TECHNIC_MEDIUM_HUB_GEST_SENSOR 54
+ * @property {number} REMOTE_CONTROL_BUTTON 55
+ * @property {number} REMOTE_CONTROL_RSSI 56
+ * @property {number} TECHNIC_MEDIUM_HUB_ACCELEROMETER 57
+ * @property {number} TECHNIC_MEDIUM_HUB_GYRO_SENSOR 58
+ * @property {number} TECHNIC_MEDIUM_HUB_TILT_SENSOR 59
+ * @property {number} TECHNIC_MEDIUM_HUB_TEMPERATURE_SENSOR 60
+ * @property {number} TECHNIC_COLOR_SENSOR 61
+ * @property {number} TECHNIC_DISTANCE_SENSOR 62
+ * @property {number} TECHNIC_FORCE_SENSOR 63
+ * @property {number} TECHNIC_3X3_COLOR_LIGHT_MATRIX 64
+ * @property {number} TECHNIC_SMALL_ANGULAR_MOTOR 65
+ * @property {number} MARIO_ACCELEROMETER 71
+ * @property {number} MARIO_BARCODE_SENSOR 73
+ * @property {number} MARIO_PANTS_SENSOR 74
+ * @property {number} TECHNIC_MEDIUM_ANGULAR_MOTOR_GREY 75
+ * @property {number} TECHNIC_LARGE_ANGULAR_MOTOR_GREY 76
  */
 export enum DeviceType {
     UNKNOWN = 0,
@@ -85,6 +102,8 @@ export enum DeviceType {
     TECHNIC_COLOR_SENSOR = 61, // Spike Prime
     TECHNIC_DISTANCE_SENSOR = 62, // Spike Prime
     TECHNIC_FORCE_SENSOR = 63, // Spike Prime
+    TECHNIC_3X3_COLOR_LIGHT_MATRIX = 64, // Spike Essential
+    TECHNIC_SMALL_ANGULAR_MOTOR = 65, // Spike Essential
     MARIO_ACCELEROMETER = 71,
     MARIO_BARCODE_SENSOR = 73,
     MARIO_PANTS_SENSOR = 74,
@@ -134,11 +153,11 @@ export const ColorNames = Color;
 
 /**
  * @typedef ButtonState
- * @property {number} PRESSED 0
- * @property {number} RELEASED 1
- * @property {number} UP 2
- * @property {number} DOWN 3
- * @property {number} STOP 4
+ * @property {number} PRESSED 2
+ * @property {number} RELEASED 0
+ * @property {number} UP 1
+ * @property {number} DOWN 255
+ * @property {number} STOP 127
  */
 export enum ButtonState {
     PRESSED = 2,
@@ -151,6 +170,7 @@ export enum ButtonState {
 
 /**
  * @typedef BrakingStyle
+ * @property {number} FLOAT 0
  * @property {number} HOLD 127
  * @property {number} BRAKE 128
  */
@@ -184,7 +204,8 @@ export enum BLEManufacturerData {
     HUB_ID = 65,
     REMOTE_CONTROL_ID = 66,
     MARIO_ID = 67,
-    TECHNIC_MEDIUM_HUB = 128
+    TECHNIC_MEDIUM_HUB_ID = 128,
+    TECHNIC_SMALL_HUB_ID = 131
 }
 
 
@@ -445,7 +466,7 @@ export enum AlertPayload {
  * @param {number} ATTACHED_VIRTUAL_IO 0x02
  * @description https://lego.github.io/lego-ble-wireless-protocol-docs/index.html#event
  */
-export enum AlertPayload {
+export enum Event {
     DETACHED_IO = 0x00,
     ATTACHED_IO = 0x01,
     ATTACHED_VIRTUAL_IO = 0x02,

package/src/devices/absolutemotor.ts

@@ -51,7 +51,6 @@ export class AbsoluteMotor extends TachoMotor {
         }
         this.cancelEventTimer();
         return new Promise<void>((resolve) => {
-            this._busy = true;
             if (speed === undefined || speed === null) {
                 speed = 100;
             }
@@ -65,9 +64,9 @@ export class AbsoluteMotor extends TachoMotor {
                 message.writeInt32LE(normalizeAngle(angle), 4);
             }
             this.send(message);
-            this._finished = () => {
+            this._finishedCallbacks.push(() => {
                 return resolve();
-            };
+            });
         });
     }
 

package/src/devices/colordistancesensor.ts

@@ -3,6 +3,7 @@ import { Device } from "./device";
 import { IDeviceInterface } from "../interfaces";
 
 import * as Consts from "../consts";
+import { parseColor } from "../utils";
 
 /**
  * @class ColorDistanceSensor
@@ -20,7 +21,7 @@ export class ColorDistanceSensor extends Device {
         switch (mode) {
             case Mode.COLOR:
                 if (message[this.isWeDo2SmartHub ? 2 : 4] <= 10) {
-                    const color = message[this.isWeDo2SmartHub ? 2 : 4];
+                    const color = parseColor(message[this.isWeDo2SmartHub ? 2 : 4]);
 
                     /**
                      * Emits when a color sensor is activated.
@@ -37,7 +38,7 @@ export class ColorDistanceSensor extends Device {
                     break;
                 }
                 if (message[4] <= 10) {
-                    let distance = Math.floor(message[4] * 25.4);
+                    let distance = Math.floor(message[4] * 25.4) - 20;
 
                     if (distance < 0) {
                         distance = 0;
@@ -53,6 +54,74 @@ export class ColorDistanceSensor extends Device {
                 }
                 break;
 
+            case Mode.DISTANCE_COUNT:
+                if (this.isWeDo2SmartHub) {
+                    break;
+                }
+                if (message.length !== 8) {
+                    // if mode of device has not changed to this._mode yet
+                    break;
+                }
+                const count = message.readUInt32LE(4);
+                /**
+                 * Emits when distance is reduced to less than 10 centimeters.
+                 * @event ColorDistanceSensor#distanceCount
+                 * @type {object}
+                 * @param {number} number of distance events.
+                 */
+                this.notify("distanceCount", { count });
+                break;
+
+            case Mode.REFLECT:
+                if (this.isWeDo2SmartHub) {
+                    break;
+                }
+                const reflect = message[4];
+                /**
+                 * Event measuring reflection change, emits when the sensor is activated.
+                 * @event ColorDistanceSensor#reflect
+                 * @type {object}
+                 * @param {number} percentage from 0 to 100.
+                 */
+                this.notify("reflect", { reflect });
+                break;
+
+            case Mode.AMBIENT:
+                if (this.isWeDo2SmartHub) {
+                    break;
+                }
+                const ambient = message[4];
+                /**
+                 * Event measuring abient light change, emits when the sensor is activated.
+                 * @event ColorDistanceSensor#ambient
+                 * @type {object}
+                 * @param {number} percentage from 0 to 100.
+                 */
+                this.notify("ambient", { ambient });
+                break;
+
+            case Mode.RGB_I:
+                if (this.isWeDo2SmartHub) {
+                    break;
+                }
+                if (message.length !== 10) {
+                    // if mode of device has not changed to this._mode yet
+                    break;
+                }
+                const red = message.readUInt16LE(4);
+                const green = message.readUInt16LE(6);
+                const blue = message.readUInt16LE(8);
+                /**
+                 * Emits when a color sensor is activated.
+                 * @event ColorDistanceSensor#rgbIntensity
+                 * @type {object}
+                 * @param {number} red
+                 * @param {number} green
+                 * @param {number} blue
+                 */
+                this.notify("rgbIntensity", { red, green, blue });
+                break;
+
             case Mode.COLOR_AND_DISTANCE:
                 if (this.isWeDo2SmartHub) {
                     break;
@@ -192,18 +261,40 @@ export class ColorDistanceSensor extends Device {
         });
     }
 
+    /**
+     * Set the distance count value.
+     * @method ColorDistanceSensor#setDistanceCount
+     * @param {count} distance count between 0 and 2^32
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    public setDistanceCount (count: number) {
+        return new Promise<void>((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();
+        });
+    }
 
     private _pfPowerToPWM (power: number) {
         return power & 15;
     }
 
-
 }
 
 export enum Mode {
     COLOR = 0x00,
     DISTANCE = 0x01,
+    DISTANCE_COUNT = 0x02,
+    REFLECT = 0x03,
+    AMBIENT = 0x04,
     LED = 0x05,
+    RGB_I = 0x06,
     PF_IR = 0x07,
     COLOR_AND_DISTANCE = 0x08
 }
@@ -211,6 +302,10 @@ export enum Mode {
 export const ModeMap: {[event: string]: number} = {
     "color": Mode.COLOR,
     "distance": Mode.DISTANCE,
+    "distanceCount": Mode.DISTANCE_COUNT,
+    "reflect": Mode.REFLECT,
+    "ambient": Mode.AMBIENT,
+    "rgbIntensity": Mode.RGB_I,
     "colorAndDistance": Mode.COLOR_AND_DISTANCE
 };
 

package/src/devices/device.ts

@@ -15,7 +15,7 @@ export class Device extends EventEmitter {
 
     protected _mode: number | undefined;
     protected _busy: boolean = false;
-    protected _finished: (() => void) | undefined;
+    protected _finishedCallbacks: (() => void)[] = [];
 
     private _hub: IDeviceInterface;
     private _portId: number;
@@ -167,11 +167,14 @@ export class Device extends EventEmitter {
         this.send(Buffer.from([0x21, this.portId, 0x00]));
     }
 
-    public finish () {
-        this._busy = false;
-        if (this._finished) {
-            this._finished();
-            this._finished = undefined;
+    public finish (message: number) {
+        if((message & 0x10) === 0x10) return; // "busy/full"
+        this._busy = (message & 0x01) === 0x01;
+        while(this._finishedCallbacks.length > Number(this._busy)) {
+            const callback = this._finishedCallbacks.shift();
+            if(callback) {
+                 callback();
+            }
         }
     }
 

package/src/devices/duplotrainbasecolorsensor.ts

@@ -3,6 +3,7 @@ import { Device } from "./device";
 import { IDeviceInterface } from "../interfaces";
 
 import * as Consts from "../consts";
+import { parseColor } from "../utils";
 
 /**
  * @class DuploTrainBaseColorSensor
@@ -18,9 +19,21 @@ export class DuploTrainBaseColorSensor extends Device {
         const mode = this._mode;
 
         switch (mode) {
+            case Mode.INTENSITY:
+                const intensity = message[4];
+
+                /**
+                 * Emits when intensity of the color/light changes.
+                 * @event DuploTrainBaseColorSensor#intensity
+                 * @type {object}
+                 * @param {number} intensity
+                 */
+                this.notify("intensity", { intensity });
+                break;
+
             case Mode.COLOR:
                 if (message[4] <= 10) {
-                    const color = message[4];
+                    const color = parseColor(message[4]);
 
                     /**
                      * Emits when a color sensor is activated.
@@ -66,12 +79,14 @@ export class DuploTrainBaseColorSensor extends Device {
 }
 
 export enum Mode {
-    COLOR = 0x00,
+    INTENSITY = 0x00,
+    COLOR = 0x01,
     REFLECTIVITY = 0x02,
     RGB = 0x03
 }
 
 export const ModeMap: {[event: string]: number} = {
+    "intensity": Mode.INTENSITY,
     "color": Mode.COLOR,
     "reflect": Mode.REFLECTIVITY,
     "rgb": Mode.RGB

package/src/devices/tachomotor.ts

@@ -104,7 +104,6 @@ export class TachoMotor extends BasicMotor {
         }
         this.cancelEventTimer();
         return new Promise<void>((resolve) => {
-            this._busy = true;
             if (speed === undefined || speed === null) {
                 speed = 100;
             }
@@ -124,9 +123,9 @@ export class TachoMotor extends BasicMotor {
                 }
             }
             this.send(message);
-            this._finished = () => {
+            this._finishedCallbacks.push(() => {
                 return resolve();
-            };
+            });
         });
     }
 
@@ -146,7 +145,6 @@ export class TachoMotor extends BasicMotor {
         }
         this.cancelEventTimer();
         return new Promise<void>((resolve) => {
-            this._busy = true;
             if (speed === undefined || speed === null) {
                 speed = 100;
             }
@@ -158,9 +156,9 @@ export class TachoMotor extends BasicMotor {
             }
             message.writeUInt32LE(degrees, 4);
             this.send(message);
-            this._finished = () => {
+            this._finishedCallbacks.push(() => {
                 return resolve();
-            };
+            });
         });
     }
 

package/src/devices/technic3x3colorlightmatrix.ts

@@ -0,0 +1,64 @@
+import { Color } from "../color";
+
+import { Device } from "./device";
+
+import { IDeviceInterface } from "../interfaces";
+
+import * as Consts from "../consts";
+
+/**
+ * @class Technic3x3ColorLightMatrix
+ * @extends Device
+ */
+export class Technic3x3ColorLightMatrix extends Device {
+
+
+    constructor (hub: IDeviceInterface, portId: number) {
+        super(hub, portId, {}, Consts.DeviceType.TECHNIC_3X3_COLOR_LIGHT_MATRIX);
+    }
+
+
+    /**
+     * Set the LED matrix, one color per LED
+     * @method Technic3x3ColorLightMatrix#setMatrix
+     * @param {Color[] | Color} colors Array of 9 colors, 9 Color objects, or a single color
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    public setMatrix (colors: number[] | number) {
+        return new Promise<void>((resolve) => {
+            this.subscribe(Mode.PIX_0);
+            const colorArray = new Array(9);
+            for (let i = 0; i < colorArray.length; i++) {
+                if (typeof colors ===  'number') {
+                    // @ts-ignore
+                    colorArray[i] = colors + (10 << 4);
+                }
+                // @ts-ignore
+                if (colors[i] instanceof Color) {
+                    // @ts-ignore
+                    colorArray[i] = colors[i].toValue();
+                }
+                // @ts-ignore
+                if (colors[i] === Consts.Color.NONE) {
+                    colorArray[i] = Consts.Color.NONE;
+                }
+                // @ts-ignore
+                if (colors[i] <= 10) {
+                    // @ts-ignore
+                    colorArray[i] = colors[i] + (10 << 4); // If a raw color value, set it to max brightness (10)
+                }
+            }
+            this.writeDirect(Mode.PIX_0, Buffer.from(colorArray));
+            return resolve();
+        });
+    }
+
+
+}
+
+export enum Mode {
+    LEV_0 = 0x00,
+    COL_0 = 0x01,
+    PIX_0 = 0x02,
+    TRANS = 0x03
+}

package/src/devices/techniccolorsensor.ts

@@ -3,6 +3,7 @@ import { Device } from "./device";
 import { IDeviceInterface } from "../interfaces";
 
 import * as Consts from "../consts";
+import { parseColor } from "../utils";
 
 /**
  * @class TechnicColorSensor
@@ -20,7 +21,7 @@ export class TechnicColorSensor extends Device {
         switch (mode) {
             case Mode.COLOR:
                 if (message[4] <= 10) {
-                    const color = message[4];
+                    const color = parseColor(message[4]);
 
                     /**
                      * Emits when a color sensor is activated.

package/src/devices/technicmediumhubtiltsensor.ts

@@ -10,6 +10,9 @@ import * as Consts from "../consts";
  */
 export class TechnicMediumHubTiltSensor extends Device {
 
+    protected _impactThreshold: number = 10; // guess of default value
+    protected _impactHoldoff: number = 10; // guess of default value
+
     constructor (hub: IDeviceInterface, portId: number) {
         super(hub, portId, ModeMap, Consts.DeviceType.TECHNIC_MEDIUM_HUB_TILT_SENSOR);
     }
@@ -21,26 +24,95 @@ export class TechnicMediumHubTiltSensor extends Device {
             case Mode.TILT:
                 /**
                  * Emits when a tilt sensor is activated.
+                 *
                  * @event TechnicMediumHubTiltSensor#tilt
                  * @type {object}
                  * @param {number} x
                  * @param {number} y
                  * @param {number} z
                  */
-                const z = -message.readInt16LE(4);
+                let z = -message.readInt16LE(4);
                 const y = message.readInt16LE(6);
                 const x = message.readInt16LE(8);
+
+                // workaround for calibration problem or bug in technicMediumHub firmware 1.1.00.0000
+                if(y === 90 || y === -90) {
+                    z = Math.sign(y)*(z + 180);
+                    if(z > 180) z -= 360;
+                    if(z < -180) z += 360;
+                }
+
                 this.notify("tilt", { x, y, z });
                 break;
+
+            case Mode.IMPACT_COUNT:
+                if (message.length !== 8) {
+                    // if mode of device has not changed to this._mode yet
+                    break;
+                }
+                const count = message.readUInt32LE(4);
+                /**
+                 * Emits when proper acceleration is above threshold (e.g. on impact when being thrown to the ground).
+                 * @event TechnicMediumHubTiltSensor#impactCount
+                 * @type {object}
+                 * @param {number} number of impact events.
+                 */
+                this.notify("tiltCount", { count });
+                break;
         }
     }
 
+    /**
+     * Set the impact count value.
+     * @method TechnicMediumHubTiltSensor#setImpactCount
+     * @param {count} impact count between 0 and 2^32
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    public setImpactCount (count: number) {
+        return new Promise<void>((resolve) => {
+            const payload = Buffer.alloc(4);
+	    payload.writeUInt32LE(count % 2**32);
+            // no need to subscribe, can be set in different mode
+            this.writeDirect(0x01, payload);
+            return resolve();
+        });
+    }
+
+    /**
+     * Set the impact threshold.
+     * @method TechnicMediumHubTiltSensor#setImpactThreshold
+     * @param {threshold} value between 1 and 127
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    public setImpactThreshold (threshold: number) {
+        this._impactThreshold = threshold;
+        return new Promise<void>((resolve) => {
+            this.writeDirect(0x02, Buffer.from([this._impactThreshold, this._impactHoldoff]));
+            return resolve();
+        });
+    }
+
+    /**
+     * Set the impact holdoff time.
+     * @method TechnicMediumHubTiltSensor#setImpactHoldoff
+     * @param {holdoff} value between 1 and 127
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    public setImpactHoldoff (holdoff: number) {
+        this._impactHoldoff = holdoff;
+        return new Promise<void>((resolve) => {
+            this.writeDirect(0x02, Buffer.from([this._impactThreshold, this._impactHoldoff]));
+            return resolve();
+        });
+    }
 }
 
 export enum Mode {
-    TILT = 0x00
+    TILT = 0x00,
+    IMPACT_COUNT = 0x01
 }
 
 export const ModeMap: {[event: string]: number} = {
-    "tilt": Mode.TILT
+    "tilt": Mode.TILT,
+    "impactCount": Mode.IMPACT_COUNT
 };