tjbot-ce 3.0.1

package/dist/rpi-drivers/rpi3-driver.js.map

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package/dist/rpi-drivers/rpi4-driver.d.ts

@@ -0,0 +1,35 @@
+/**
+ * Copyright 2025 IBM Corp. All Rights Reserved.
+ * Copyright 2026-present TJBot Contributors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+import { ShineConfig, WaveConfig } from '../config/index.js';
+import { ServoPosition } from '../servo/index.js';
+import { RPiBaseHardwareDriver } from './rpi-driver.js';
+declare class RPi4Driver extends RPiBaseHardwareDriver {
+    private commonAnodeLed;
+    private neopixelLed;
+    private useGRBFormat;
+    private servo;
+    constructor();
+    setupLEDCommonAnode(config: ShineConfig['commonanode']): void;
+    setupLEDNeopixel(config: ShineConfig['neopixel']): Promise<void>;
+    setupServo(config: WaveConfig): void;
+    renderLEDCommonAnode(rgbColor: [number, number, number]): void;
+    renderLEDNeopixel(hexColor: string): Promise<void>;
+    cleanup(): Promise<void>;
+    renderServoPosition(position: ServoPosition): void;
+}
+export default RPi4Driver;
+//# sourceMappingURL=rpi4-driver.d.ts.map

package/dist/rpi-drivers/rpi4-driver.d.ts.map

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package/dist/rpi-drivers/rpi4-driver.js

@@ -0,0 +1,101 @@
+/**
+ * Copyright 2025 IBM Corp. All Rights Reserved.
+ * Copyright 2026-present TJBot Contributors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+import { getLogger } from '../utils/logging.js';
+import { LEDCommonAnode, LEDNeopixel } from '../led/index.js';
+import { LGPIOServoController } from '../servo/index.js';
+import { Hardware } from '../utils/index.js';
+import { RPiBaseHardwareDriver } from './rpi-driver.js';
+const logger = getLogger(import.meta.url);
+class RPi4Driver extends RPiBaseHardwareDriver {
+    commonAnodeLed;
+    neopixelLed;
+    useGRBFormat;
+    servo;
+    constructor() {
+        super();
+        logger.debug('initializing RPi4 hardware driver');
+        this.useGRBFormat = true;
+    }
+    setupLEDCommonAnode(config) {
+        const redPin = config?.redPin ?? 19;
+        const greenPin = config?.greenPin ?? 13;
+        const bluePin = config?.bluePin ?? 12;
+        logger.verbose(`initializing Common Anode LED on RED PIN ${redPin}, GREEN PIN ${greenPin}, and BLUE PIN ${bluePin}`);
+        this.commonAnodeLed = new LEDCommonAnode(redPin, greenPin, bluePin);
+        this.initializedHardware.add(Hardware.LED);
+    }
+    async setupLEDNeopixel(config) {
+        const pin = config?.gpioPin ?? 18;
+        logger.verbose(`initializing NeoPixel LED on pin ${pin}`);
+        this.neopixelLed = new LEDNeopixel(pin);
+        await this.neopixelLed.initialize();
+        this.useGRBFormat = config?.useGRBFormat ?? true;
+        this.initializedHardware.add(Hardware.LED);
+    }
+    setupServo(config) {
+        const pin = config.servoPin ?? 18;
+        logger.verbose(`initializing ${Hardware.SERVO} on PIN ${pin}`);
+        this.servo = new LGPIOServoController(0, pin);
+        this.initializedHardware.add(Hardware.SERVO);
+    }
+    renderLEDCommonAnode(rgbColor) {
+        if (this.commonAnodeLed) {
+            this.commonAnodeLed.render(rgbColor);
+        }
+        else {
+            logger.warn('attempted to render on an uninitialized Common Anode LED');
+        }
+    }
+    async renderLEDNeopixel(hexColor) {
+        if (this.neopixelLed) {
+            const c = hexColor.startsWith('#') ? hexColor.slice(1) : hexColor;
+            if (c.length !== 6) {
+                logger.warn(`Invalid NeoPixel color '${hexColor}'`);
+                return;
+            }
+            if (this.useGRBFormat) {
+                const grbStr = `0x${c[2]}${c[3]}${c[0]}${c[1]}${c[4]}${c[5]}`;
+                const grb = parseInt(grbStr, 16);
+                await this.neopixelLed.render(grb);
+            }
+            else {
+                const rgbStr = `0x${c}`;
+                const rgb = parseInt(rgbStr, 16);
+                await this.neopixelLed.render(rgb);
+            }
+        }
+        else {
+            logger.warn('attempted to render on an uninitialized Neopixel LED');
+        }
+    }
+    async cleanup() {
+        if (this.neopixelLed) {
+            await this.neopixelLed.cleanup();
+        }
+        await super.cleanup();
+    }
+    renderServoPosition(position) {
+        if (this.servo) {
+            this.servo.setPosition(position);
+        }
+        else {
+            logger.warn('attempted to render on an uninitialized servo');
+        }
+    }
+}
+export default RPi4Driver;
+//# sourceMappingURL=rpi4-driver.js.map

package/dist/rpi-drivers/rpi4-driver.js.map

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package/dist/rpi-drivers/rpi5-driver.d.ts

@@ -0,0 +1,33 @@
+/**
+ * Copyright 2025 IBM Corp. All Rights Reserved.
+ * Copyright 2026-present TJBot Contributors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+import { ShineConfig, WaveConfig } from '../config/index.js';
+import { ServoPosition } from '../servo/index.js';
+import { RPiBaseHardwareDriver } from './rpi-driver.js';
+declare class RPi5Driver extends RPiBaseHardwareDriver {
+    private commonAnodeLed;
+    private neopixelLed;
+    private servo;
+    constructor();
+    setupLEDCommonAnode(config: ShineConfig['commonanode']): void;
+    setupLEDNeopixel(config: ShineConfig['neopixel']): Promise<void>;
+    setupServo(config: WaveConfig): void;
+    renderLEDCommonAnode(rgbColor: [number, number, number]): void;
+    renderLEDNeopixel(hexColor: string): Promise<void>;
+    renderServoPosition(position: ServoPosition): void;
+}
+export default RPi5Driver;
+//# sourceMappingURL=rpi5-driver.d.ts.map

package/dist/rpi-drivers/rpi5-driver.d.ts.map

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package/dist/rpi-drivers/rpi5-driver.js

@@ -0,0 +1,78 @@
+/**
+ * Copyright 2025 IBM Corp. All Rights Reserved.
+ * Copyright 2026-present TJBot Contributors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+import { getLogger } from '../utils/logging.js';
+import { LEDCommonAnode, LEDNeopixelSPI } from '../led/index.js';
+import { LGPIOServoController } from '../servo/index.js';
+import { Hardware } from '../utils/index.js';
+import { RPiBaseHardwareDriver } from './rpi-driver.js';
+const logger = getLogger(import.meta.url);
+class RPi5Driver extends RPiBaseHardwareDriver {
+    commonAnodeLed;
+    neopixelLed;
+    servo;
+    constructor() {
+        super();
+        logger.debug('initializing RPi5 hardware driver');
+    }
+    setupLEDCommonAnode(config) {
+        const redPin = config?.redPin ?? 19;
+        const greenPin = config?.greenPin ?? 13;
+        const bluePin = config?.bluePin ?? 12;
+        logger.verbose(`initializing Common Anode LED on RED PIN ${redPin}, GREEN PIN ${greenPin}, and BLUE PIN ${bluePin}`);
+        this.commonAnodeLed = new LEDCommonAnode(redPin, greenPin, bluePin);
+        this.initializedHardware.add(Hardware.LED);
+    }
+    async setupLEDNeopixel(config) {
+        const spiInterface = config?.spiInterface ?? '/dev/spidev0.0';
+        const useGRBFormat = config?.useGRBFormat ?? false;
+        logger.verbose(`initializing NeoPixel LED on SPI ${spiInterface}`);
+        this.neopixelLed = new LEDNeopixelSPI(spiInterface, useGRBFormat);
+        this.initializedHardware.add(Hardware.LED);
+    }
+    setupServo(config) {
+        const pin = config.servoPin ?? 18;
+        const chipNumber = 0; // GPIO chip 0 (standard Raspberry Pi configuration)
+        this.servo = new LGPIOServoController(chipNumber, pin);
+        this.initializedHardware.add(Hardware.SERVO);
+    }
+    renderLEDCommonAnode(rgbColor) {
+        if (this.commonAnodeLed) {
+            this.commonAnodeLed.render(rgbColor);
+        }
+        else {
+            logger.warn('attempted to render on an uninitialized Common Anode LED');
+        }
+    }
+    async renderLEDNeopixel(hexColor) {
+        if (this.neopixelLed) {
+            await this.neopixelLed.render(hexColor);
+        }
+        else {
+            logger.warn('attempted to render on an uninitialized Neopixel LED');
+        }
+    }
+    renderServoPosition(position) {
+        if (this.servo) {
+            this.servo.setPosition(position);
+        }
+        else {
+            logger.warn('attempted to render on an uninitialized servo');
+        }
+    }
+}
+export default RPi5Driver;
+//# sourceMappingURL=rpi5-driver.js.map

package/dist/rpi-drivers/rpi5-driver.js.map

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package/dist/servo/index.d.ts

@@ -0,0 +1,19 @@
+/**
+ * Copyright 2025 IBM Corp. All Rights Reserved.
+ * Copyright 2026-present TJBot Contributors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+export { LGPIOServoController } from './servo-lgpio.js';
+export { MAX_PULSE_MS, MID_PULSE_MS, MIN_PULSE_MS, ServoPosition } from './servo-constants.js';
+//# sourceMappingURL=index.d.ts.map

package/dist/servo/index.d.ts.map

@@ -0,0 +1 @@
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package/dist/servo/index.js

@@ -0,0 +1,19 @@
+/**
+ * Copyright 2025 IBM Corp. All Rights Reserved.
+ * Copyright 2026-present TJBot Contributors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+export { LGPIOServoController } from './servo-lgpio.js';
+export { MAX_PULSE_MS, MID_PULSE_MS, MIN_PULSE_MS, ServoPosition } from './servo-constants.js';
+//# sourceMappingURL=index.js.map

package/dist/servo/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/servo/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;GAeG;AAEH,OAAO,EAAE,oBAAoB,EAAE,MAAM,kBAAkB,CAAC;AACxD,OAAO,EAAE,YAAY,EAAE,YAAY,EAAE,YAAY,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC"}

package/dist/servo/servo-constants.d.ts

@@ -0,0 +1,33 @@
+/**
+ * Copyright 2025 IBM Corp. All Rights Reserved.
+ * Copyright 2026-present TJBot Contributors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+ * TJBot servo motor stop positions
+ * @readonly
+ * @enum {int}
+ */
+export declare enum ServoPosition {
+    ARM_BACK = 700,
+    ARM_UP = 1400,
+    ARM_DOWN = 2300
+}
+/**
+ * Servo pulse widths in milliseconds.
+ */
+export declare const MIN_PULSE_MS = 0.5;
+export declare const MID_PULSE_MS = 1.5;
+export declare const MAX_PULSE_MS = 2.5;
+//# sourceMappingURL=servo-constants.d.ts.map

package/dist/servo/servo-constants.d.ts.map

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package/dist/servo/servo-constants.js

@@ -0,0 +1,34 @@
+/**
+ * Copyright 2025 IBM Corp. All Rights Reserved.
+ * Copyright 2026-present TJBot Contributors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+ * TJBot servo motor stop positions
+ * @readonly
+ * @enum {int}
+ */
+export var ServoPosition;
+(function (ServoPosition) {
+    ServoPosition[ServoPosition["ARM_BACK"] = 700] = "ARM_BACK";
+    ServoPosition[ServoPosition["ARM_UP"] = 1400] = "ARM_UP";
+    ServoPosition[ServoPosition["ARM_DOWN"] = 2300] = "ARM_DOWN";
+})(ServoPosition || (ServoPosition = {}));
+/**
+ * Servo pulse widths in milliseconds.
+ */
+export const MIN_PULSE_MS = 0.5;
+export const MID_PULSE_MS = 1.5;
+export const MAX_PULSE_MS = 2.5;
+//# sourceMappingURL=servo-constants.js.map

package/dist/servo/servo-constants.js.map

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package/dist/servo/servo-lgpio.d.ts

@@ -0,0 +1,82 @@
+/**
+ * Copyright 2025 IBM Corp. All Rights Reserved.
+ * Copyright 2026-present TJBot Contributors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+import { ServoPosition } from './servo-constants.js';
+/**
+ * Servo controller using lgpio on Raspberry Pi GPIO character devices
+ */
+export declare class LGPIOServoController {
+    private chipNumber;
+    private pin;
+    private freq;
+    private chipHandle?;
+    private claimed;
+    private currentPulseMs;
+    private running;
+    private autoStopTimer?;
+    private autoStopDelayMs;
+    /**
+     * Create a LGPIOServoController instance
+     * @param chipNumber GPIO chip number (usually 0)
+     * @param pin GPIO pin number (BCM)
+     * @param freq PWM frequency in Hz (default 50 for standard servos)
+     */
+    constructor(chipNumber: number, pin: number, freq?: number, autoStopDelayMs?: number);
+    /**
+     * Set the servo to a specific position.
+     * @param position Servo position in microseconds (500-2500 for standard servos)
+     */
+    setPosition(position: ServoPosition): void;
+    private ensureStarted;
+    private setServoPulse;
+    /**
+     * Start the servo controller worker
+     */
+    start(): void;
+    /**
+     * Stop the servo controller and clean up resources
+     */
+    stop(): Promise<void>;
+    /**
+     * Set pulse width in milliseconds
+     * Valid range is 0.5-2.5ms for standard servos
+     * @param pulseMs Pulse width in milliseconds
+     */
+    setPulseWidth(pulseMs: number): void;
+    /**
+     * Set servo angle (0-180 degrees)
+     * 0° = 0.5ms pulse, 90° = 1.5ms pulse, 180° = 2.5ms pulse
+     * @param angle Angle in degrees (0-180)
+     */
+    setAngle(angle: number): void;
+    /**
+     * Get the current pulse width
+     */
+    getPulseWidth(): number;
+    /**
+     * Get the current angle (approximately)
+     */
+    getAngle(): number;
+    /**
+     * Check if the controller is running
+     */
+    isRunning(): boolean;
+    /**
+     * Cleanup and stop the controller
+     */
+    cleanup(): Promise<void>;
+}
+//# sourceMappingURL=servo-lgpio.d.ts.map

package/dist/servo/servo-lgpio.d.ts.map

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