node-poweredup 9.0.0 → 10.0.0

package/dist/devices/absolutemotor.js

@@ -0,0 +1,115 @@
+import { TachoMotor } from "./tachomotor.js";
+import * as Consts from "../consts.js";
+import { mapSpeed, normalizeAngle } from "../utils.js";
+/**
+ * @class AbsoluteMotor
+ * @extends TachoMotor
+ */
+export class AbsoluteMotor extends TachoMotor {
+    constructor(hub, portId, modeMap = {}, type = Consts.DeviceType.UNKNOWN) {
+        super(hub, portId, Object.assign({}, modeMap, ModeMap), type);
+    }
+    receive(message) {
+        const mode = this._mode;
+        switch (mode) {
+            case Mode.ABSOLUTE:
+                const angle = normalizeAngle(message.readInt16LE(this.isWeDo2SmartHub ? 2 : 4));
+                /**
+                 * Emits when a the motors absolute position is changed.
+                 * @event AbsoluteMotor#absolute
+                 * @type {object}
+                 * @param {number} absolute
+                 */
+                this.notify("absolute", { angle });
+                break;
+            default:
+                super.receive(message);
+                break;
+        }
+    }
+    /**
+     * 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).
+     */
+    gotoAngle(angle, speed = 100) {
+        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();
+            });
+        });
+    }
+    /**
+     * 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).
+     */
+    gotoRealZero(speed = 100) {
+        return new Promise((resolve) => {
+            const oldMode = this.mode;
+            let calibrated = false;
+            this.on("absolute", async ({ angle }) => {
+                if (!calibrated) {
+                    calibrated = true;
+                    if (angle < 0) {
+                        angle = Math.abs(angle);
+                    }
+                    else {
+                        speed = -speed;
+                    }
+                    await this.rotateByDegrees(angle, speed);
+                    if (oldMode) {
+                        this.subscribe(oldMode);
+                    }
+                    return resolve();
+                }
+            });
+            this.requestUpdate();
+        });
+    }
+    /**
+     * Reset zero to current position
+     * @returns {Promise} Resolved upon successful completion of command (ie. 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();
+        });
+    }
+}
+export var Mode;
+(function (Mode) {
+    Mode[Mode["ROTATION"] = 2] = "ROTATION";
+    Mode[Mode["ABSOLUTE"] = 3] = "ABSOLUTE";
+})(Mode || (Mode = {}));
+export const ModeMap = {
+    "rotate": Mode.ROTATION,
+    "absolute": Mode.ABSOLUTE
+};
+//# sourceMappingURL=absolutemotor.js.map

package/dist/devices/absolutemotor.js.map

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package/dist/devices/basicmotor.d.ts

@@ -0,0 +1,37 @@
+import { Device } from "./device.js";
+import { IDeviceInterface } from "../interfaces.js";
+import * as Consts from "../consts.js";
+/**
+ * @class BasicMotor
+ * @extends Device
+ */
+export declare class BasicMotor extends Device {
+    constructor(hub: IDeviceInterface, portId: number, modeMap: {
+        [event: string]: number;
+    }, type?: Consts.DeviceType);
+    /**
+     * 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.
+     */
+    setPower(power: number, interrupt?: boolean): Promise<void>;
+    /**
+     * 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.
+     */
+    rampPower(fromPower: number, toPower: number, time: number): Promise<unknown>;
+    /**
+     * Stop the motor.
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    stop(): Promise<void>;
+    /**
+     * Brake the motor.
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    brake(): Promise<void>;
+}
+//# sourceMappingURL=basicmotor.d.ts.map

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

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package/dist/devices/basicmotor.js

@@ -0,0 +1,57 @@
+import { Device } from "./device.js";
+import * as Consts from "../consts.js";
+import { calculateRamp, mapSpeed } from "../utils.js";
+/**
+ * @class BasicMotor
+ * @extends Device
+ */
+export class BasicMotor extends Device {
+    constructor(hub, portId, modeMap, type = Consts.DeviceType.UNKNOWN) {
+        super(hub, portId, modeMap, type);
+    }
+    /**
+     * 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.
+     */
+    setPower(power, interrupt = true) {
+        if (interrupt) {
+            this.cancelEventTimer();
+        }
+        return this.writeDirect(0x00, Buffer.from([mapSpeed(power)]));
+    }
+    /**
+     * 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.
+     */
+    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);
+        });
+    }
+    /**
+     * Stop the motor.
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    stop() {
+        this.cancelEventTimer();
+        return this.setPower(0);
+    }
+    /**
+     * Brake the motor.
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    brake() {
+        this.cancelEventTimer();
+        return this.setPower(Consts.BrakingStyle.BRAKE);
+    }
+}
+//# sourceMappingURL=basicmotor.js.map

package/dist/devices/basicmotor.js.map

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package/dist/devices/colordistancesensor.d.ts

@@ -0,0 +1,74 @@
+import { Device } from "./device.js";
+import { IDeviceInterface } from "../interfaces.js";
+/**
+ * @class ColorDistanceSensor
+ * @extends Device
+ */
+export declare class ColorDistanceSensor extends Device {
+    constructor(hub: IDeviceInterface, portId: number);
+    receive(message: Buffer): void;
+    /**
+     * Switches the IR receiver into extended channel mode. After setting this, use channels 5-8 instead of 1-4 for this receiver.
+     *
+     * 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.
+     */
+    setPFExtendedChannel(channel: number): Promise<void>;
+    /**
+     * 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.
+     */
+    setPFPower(channel: number, output: Output, power: number): Promise<void>;
+    /**
+     * Start Power Functions motors running via IR
+     *
+     * NOTE: This command is designed for bang-bang style operation. To keep the motors running, the sensor needs to be within range of the IR receiver constantly.
+     * @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.
+     */
+    startPFMotors(channel: number, powerBlue: number, powerRed: number): Promise<void>;
+    /**
+     * 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.
+     */
+    sendPFIRMessage(message: Buffer): Promise<void>;
+    /**
+     * 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.
+     */
+    setColor(color: number | boolean): Promise<void>;
+    /**
+     * Set the distance count value.
+     * @param {number} count distance count between 0 and 2^32
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    setDistanceCount(count: number): Promise<void>;
+    private _pfPowerToPWM;
+}
+export declare enum Mode {
+    COLOR = 0,
+    DISTANCE = 1,
+    DISTANCE_COUNT = 2,
+    REFLECT = 3,
+    AMBIENT = 4,
+    LED = 5,
+    RGB_I = 6,
+    PF_IR = 7,
+    COLOR_AND_DISTANCE = 8
+}
+export declare const ModeMap: {
+    [event: string]: number;
+};
+export declare enum Output {
+    RED = "RED",
+    BLUE = "BLUE"
+}
+//# sourceMappingURL=colordistancesensor.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/devices/colordistancesensor.js

@@ -0,0 +1,278 @@
+import { Device } from "./device.js";
+import * as Consts from "../consts.js";
+import { parseColor } from "../utils.js";
+/**
+ * @class ColorDistanceSensor
+ * @extends Device
+ */
+export class ColorDistanceSensor extends Device {
+    constructor(hub, portId) {
+        super(hub, portId, ModeMap, Consts.DeviceType.COLOR_DISTANCE_SENSOR);
+    }
+    receive(message) {
+        const mode = this._mode;
+        switch (mode) {
+            case Mode.COLOR:
+                if (message[this.isWeDo2SmartHub ? 2 : 4] <= 10) {
+                    const color = parseColor(message[this.isWeDo2SmartHub ? 2 : 4]);
+                    /**
+                     * Emits when a color sensor is activated.
+                     * @event ColorDistanceSensor#color
+                     * @type {object}
+                     * @param {Color} color
+                     */
+                    this.notify("color", { color });
+                }
+                break;
+            case Mode.DISTANCE:
+                if (this.isWeDo2SmartHub) {
+                    break;
+                }
+                if (message[4] <= 10) {
+                    let distance = Math.floor(message[4] * 25.4) - 20;
+                    if (distance < 0) {
+                        distance = 0;
+                    }
+                    /**
+                     * Emits when a distance sensor is activated.
+                     * @event ColorDistanceSensor#distance
+                     * @type {object}
+                     * @param {number} distance Distance, in millimeters.
+                     */
+                    this.notify("distance", { distance });
+                }
+                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;
+                }
+                let distance = message[5];
+                const partial = message[7];
+                if (partial > 0) {
+                    distance += 1.0 / partial;
+                }
+                distance = Math.floor(distance * 25.4) - 20;
+                /**
+                 * A combined color and distance event, emits when the sensor is activated.
+                 * @event ColorDistanceSensor#colorAndDistance
+                 * @type {object}
+                 * @param {Color} color
+                 * @param {number} distance Distance, in millimeters.
+                 */
+                if (message[4] <= 10) {
+                    const color = message[4];
+                    this.notify("colorAndDistance", { color, distance });
+                }
+                break;
+        }
+    }
+    /**
+     * Switches the IR receiver into extended channel mode. After setting this, use channels 5-8 instead of 1-4 for this receiver.
+     *
+     * 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.
+     */
+    setPFExtendedChannel(channel) {
+        let address = 0;
+        if (channel >= 4) {
+            channel -= 4;
+            address = 1;
+        }
+        const message = Buffer.alloc(2);
+        // Send "Extended toggle address command"
+        message[0] = ((channel - 1) << 4) + (address << 3);
+        message[1] = 6 << 4;
+        return this.sendPFIRMessage(message);
+    }
+    /**
+     * 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.
+     */
+    setPFPower(channel, output, power) {
+        let address = 0;
+        if (channel > 4) {
+            channel -= 4;
+            address = 1;
+        }
+        const message = Buffer.alloc(2);
+        // Send "Single output mode"
+        message[0] = ((channel - 1) << 4) + (address << 3) + (output === "RED" ? 4 : 5);
+        message[1] = this._pfPowerToPWM(power) << 4;
+        return this.sendPFIRMessage(message);
+    }
+    /**
+     * Start Power Functions motors running via IR
+     *
+     * NOTE: This command is designed for bang-bang style operation. To keep the motors running, the sensor needs to be within range of the IR receiver constantly.
+     * @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.
+     */
+    startPFMotors(channel, powerBlue, powerRed) {
+        let address = 0;
+        if (channel > 4) {
+            channel -= 4;
+            address = 1;
+        }
+        const message = Buffer.alloc(2);
+        // Send "Combo PWM mode"
+        message[0] = (((channel - 1) + 4 + (address << 3)) << 4) + this._pfPowerToPWM(powerBlue);
+        message[1] = this._pfPowerToPWM(powerRed) << 4;
+        return this.sendPFIRMessage(message);
+    }
+    /**
+     * 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.
+     */
+    sendPFIRMessage(message) {
+        if (this.isWeDo2SmartHub) {
+            throw new Error("Power Functions IR is not available on the WeDo 2.0 Smart Hub");
+        }
+        else {
+            const payload = Buffer.alloc(2);
+            payload[0] = (message[0] << 4) + (message[1] >> 4);
+            payload[1] = message[0] >> 4;
+            this.subscribe(Mode.PF_IR);
+            return this.writeDirect(0x07, payload);
+        }
+    }
+    /**
+     * 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.
+     */
+    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();
+        });
+    }
+    /**
+     * Set the distance count value.
+     * @param {number} count distance count between 0 and 2^32
+     * @returns {Promise} Resolved upon successful issuance 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();
+        });
+    }
+    _pfPowerToPWM(power) {
+        return power & 15;
+    }
+}
+export var Mode;
+(function (Mode) {
+    Mode[Mode["COLOR"] = 0] = "COLOR";
+    Mode[Mode["DISTANCE"] = 1] = "DISTANCE";
+    Mode[Mode["DISTANCE_COUNT"] = 2] = "DISTANCE_COUNT";
+    Mode[Mode["REFLECT"] = 3] = "REFLECT";
+    Mode[Mode["AMBIENT"] = 4] = "AMBIENT";
+    Mode[Mode["LED"] = 5] = "LED";
+    Mode[Mode["RGB_I"] = 6] = "RGB_I";
+    Mode[Mode["PF_IR"] = 7] = "PF_IR";
+    Mode[Mode["COLOR_AND_DISTANCE"] = 8] = "COLOR_AND_DISTANCE";
+})(Mode || (Mode = {}));
+export const ModeMap = {
+    "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
+};
+export var Output;
+(function (Output) {
+    Output["RED"] = "RED";
+    Output["BLUE"] = "BLUE";
+})(Output || (Output = {}));
+//# sourceMappingURL=colordistancesensor.js.map

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package/dist/devices/currentsensor.d.ts

@@ -0,0 +1,17 @@
+import { Device } from "./device.js";
+import { IDeviceInterface } from "../interfaces.js";
+/**
+ * @class CurrentSensor
+ * @extends Device
+ */
+export declare class CurrentSensor extends Device {
+    constructor(hub: IDeviceInterface, portId: number);
+    receive(message: Buffer): void;
+}
+export declare enum Mode {
+    CURRENT = 0
+}
+export declare const ModeMap: {
+    [event: string]: number;
+};
+//# sourceMappingURL=currentsensor.d.ts.map

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

@@ -0,0 +1 @@
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