nova-control-node 0.0.7 → 0.0.9

package/README.md

@@ -94,12 +94,13 @@ Controls how servo movements are executed when `withinMS` is specified on a move
 
 ```typescript
 interface NovaController {
-  home ():Promise<void>
-  shiftHeadTo (Degrees:number):Promise<void>
-  rollHeadTo (Degrees:number):Promise<void>
-  pitchHeadTo (Degrees:number):Promise<void>
-  liftHeadTo (Degrees:number):Promise<void>
-  rotateBodyTo (Degrees:number):Promise<void>
+  home (withinMS?:number):Promise<void>
+  shiftHeadTo (Angle:number, withinMS?:number):Promise<void>
+  rollHeadTo (Angle:number, withinMS?:number):Promise<void>
+  pitchHeadTo (Angle:number, withinMS?:number):Promise<void>
+  liftHeadTo (Angle:number, withinMS?:number):Promise<void>
+  rotateBodyTo (Angle:number, withinMS?:number):Promise<void>
+  moveTo (Target:ServoUpdate, withinMS?:number):Promise<void>
   get State ():ServoState
   set State (Update:ServoUpdate)
   sendServoState ():Promise<void>
@@ -109,12 +110,12 @@ interface NovaController {
 
 | method / property | description |
 | --- | --- |
-| `home()` | sends all servos to `HomePosition` |
-| `shiftHeadTo(Degrees)` | sets s1 — head forward `> 90°`, back `< 90°` |
-| `rollHeadTo(Degrees)` | sets s2 — head clockwise `> 90°`, counter-clockwise `< 90°` |
-| `pitchHeadTo(Degrees)` | sets s3 — head up `> 110°`, down toward `40°` |
-| `liftHeadTo(Degrees)` | sets s5 — secondary head up/down, range `20°`–`150°` |
-| `rotateBodyTo(Degrees)` | sets s4 — rotates the entire body around the Z-axis |
+| `home(withinMS?)` | sends all servos to `HomePosition` |
+| `shiftHeadTo(Angle, withinMS?)` | sets s1 — head forward `> 90°`, back `< 90°` |
+| `rollHeadTo(Angle, withinMS?)` | sets s2 — head clockwise `> 90°`, counter-clockwise `< 90°` |
+| `pitchHeadTo(Angle, withinMS?)` | sets s3 — head up `> 110°`, down toward `40°` |
+| `liftHeadTo(Angle, withinMS?)` | sets s5 — secondary head up/down, range `20°`–`150°` |
+| `rotateBodyTo(Angle, withinMS?)` | sets s4 — rotates the entire body around the Z-axis |
 | `moveTo(Target, withinMS?)` | moves the servos listed in `Target` to their target angles; with `withinMS`, uses the trapezoidal profile |
 | `State` (get) | returns a deep copy of the pending state if any, else the last-sent state |
 | `State` (set) | replaces any pending entry with `Update` merged onto the *last-sent* state (not onto pending); flush with `sendServoState()` |
@@ -139,16 +140,16 @@ Supported commands:
 
 | command | description |
 | --- | --- |
-| `home` | send all servos to home positions |
-| `shift-to <deg>` | s1 — head forward / back |
-| `roll-to <deg>` | s2 — head CW / CCW |
-| `pitch-to <deg>` | s3 — head up / down |
-| `rotate-to <deg>` | s4 — body Z-axis rotation |
-| `lift-to <deg>` | s5 — secondary head axis |
-| `move [key val …]` | set multiple servos atomically (e.g. `move shift-to 100 rotate-to 120`) |
+| `home [<within_ms>]` | send all servos to home positions |
+| `shift-to <angle> [<within_ms>]` | s1 — head forward / back |
+| `roll-to <angle> [<within_ms>]` | s2 — head CW / CCW |
+| `pitch-to <angle> [<within_ms>]` | s3 — head up / down |
+| `rotate-to <angle> [<within_ms>]` | s4 — body Z-axis rotation |
+| `lift-to <angle> [<within_ms>]` | s5 — secondary head axis |
+| `move [shift-to <angle>] [roll-to <angle>] [pitch-to <angle>] [rotate-to <angle>] [lift-to <angle>] [within-ms <ms>]` | set multiple servos atomically (e.g. `move shift-to 100 rotate-to 120 within-ms 500`) |
 | `wait <ms>` | pause for the given number of milliseconds |
 
-Throws a descriptive error containing the line number if an unknown command or invalid argument is encountered.
+Each command is fully awaited before the next begins. Throws a descriptive error containing the line number if an unknown command or invalid argument is encountered.
 
 ### Types
 

package/dist/nova-control-node.js

@@ -157,65 +157,83 @@ async function u(e, t) {
 		if (r === "" || r.startsWith("#")) continue;
 		let a = r.split(/\s+/), o = a[0].toLowerCase();
 		switch (!0) {
-			case o === "home":
-				await e.home();
+			case o === "home": {
+				let t = a[1] == null ? void 0 : Number(a[1]);
+				if (t != null && isNaN(t)) throw Error(`line ${i}: home: within_ms must be a number, got '${a[1]}'`);
+				await e.home(t);
 				break;
+			}
 			case o === "shift-to": {
 				let t = Number(a[1]);
 				if (isNaN(t)) throw Error(`line ${i}: shift-to requires a numeric angle, got '${a[1]}'`);
-				await e.shiftHeadTo(t);
+				let n = a[2] == null ? void 0 : Number(a[2]);
+				if (n != null && isNaN(n)) throw Error(`line ${i}: shift-to: within_ms must be a number, got '${a[2]}'`);
+				await e.shiftHeadTo(t, n);
 				break;
 			}
 			case o === "roll-to": {
 				let t = Number(a[1]);
 				if (isNaN(t)) throw Error(`line ${i}: roll-to requires a numeric angle, got '${a[1]}'`);
-				await e.rollHeadTo(t);
+				let n = a[2] == null ? void 0 : Number(a[2]);
+				if (n != null && isNaN(n)) throw Error(`line ${i}: roll-to: within_ms must be a number, got '${a[2]}'`);
+				await e.rollHeadTo(t, n);
 				break;
 			}
 			case o === "pitch-to": {
 				let t = Number(a[1]);
 				if (isNaN(t)) throw Error(`line ${i}: pitch-to requires a numeric angle, got '${a[1]}'`);
-				await e.pitchHeadTo(t);
+				let n = a[2] == null ? void 0 : Number(a[2]);
+				if (n != null && isNaN(n)) throw Error(`line ${i}: pitch-to: within_ms must be a number, got '${a[2]}'`);
+				await e.pitchHeadTo(t, n);
 				break;
 			}
 			case o === "rotate-to": {
 				let t = Number(a[1]);
 				if (isNaN(t)) throw Error(`line ${i}: rotate-to requires a numeric angle, got '${a[1]}'`);
-				await e.rotateBodyTo(t);
+				let n = a[2] == null ? void 0 : Number(a[2]);
+				if (n != null && isNaN(n)) throw Error(`line ${i}: rotate-to: within_ms must be a number, got '${a[2]}'`);
+				await e.rotateBodyTo(t, n);
 				break;
 			}
 			case o === "lift-to": {
 				let t = Number(a[1]);
 				if (isNaN(t)) throw Error(`line ${i}: lift-to requires a numeric angle, got '${a[1]}'`);
-				await e.liftHeadTo(t);
+				let n = a[2] == null ? void 0 : Number(a[2]);
+				if (n != null && isNaN(n)) throw Error(`line ${i}: lift-to: within_ms must be a number, got '${a[2]}'`);
+				await e.liftHeadTo(t, n);
 				break;
 			}
 			case o === "move": {
-				let t = {};
+				let t = {}, n;
 				for (let e = 1; e < a.length; e += 2) {
-					let n = a[e].toLowerCase(), r = Number(a[e + 1]);
-					if (isNaN(r)) throw Error(`line ${i}: '${n}' requires a numeric angle, got '${a[e + 1]}'`);
-					switch (n) {
+					let r = a[e].toLowerCase(), o = Number(a[e + 1]);
+					if (r === "within-ms") {
+						if (isNaN(o)) throw Error(`line ${i}: within-ms requires a numeric value, got '${a[e + 1]}'`);
+						n = o;
+						break;
+					}
+					if (isNaN(o)) throw Error(`line ${i}: '${r}' requires a numeric angle, got '${a[e + 1]}'`);
+					switch (r) {
 						case "shift-to":
-							t.s1 = r;
+							t.s1 = o;
 							break;
 						case "roll-to":
-							t.s2 = r;
+							t.s2 = o;
 							break;
 						case "pitch-to":
-							t.s3 = r;
+							t.s3 = o;
 							break;
 						case "rotate-to":
-							t.s4 = r;
+							t.s4 = o;
 							break;
 						case "lift-to":
-							t.s5 = r;
+							t.s5 = o;
 							break;
-						default: throw Error(`line ${i}: unknown move argument '${n}'`);
+						default: throw Error(`line ${i}: unknown move argument '${r}'`);
 					}
 				}
 				if (Object.keys(t).length === 0) throw Error(`line ${i}: move requires at least one servo argument`);
-				e.State = t, await e.sendServoState();
+				await e.moveTo(t, n);
 				break;
 			}
 			case o === "wait": {

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "nova-control-node",
   "description": "Control a NOVA DIY Artificial Intelligence Robot by Creoqode from Node.js",
-  "version": "0.0.7",
+  "version": "0.0.9",
   "type": "module",
   "keywords": [
     "nova",