Source: devices/basicmotor.js

"use strict";
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Object.defineProperty(exports, "__esModule", { value: true });
exports.BasicMotor = void 0;
const device_1 = require("./device");
const Consts = __importStar(require("../consts"));
const utils_1 = require("../utils");
/**
 * @class BasicMotor
 * @extends Device
 */
class BasicMotor extends device_1.Device {
    constructor(hub, portId, modeMap, type = Consts.DeviceType.UNKNOWN) {
        super(hub, portId, modeMap, type);
    }
    /**
     * Set the motor power.
     * @method BasicMotor#setPower
     * @param {number} power For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
     */
    setPower(power, interrupt = false) {
        return this.writeDirect(0x00, Buffer.from([(0, utils_1.mapSpeed)(power)]), interrupt);
    }
    /**
     * Ramp the motor power.
     * @method BasicMotor#rampPower
     * @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<CommandFeedback>} Resolved upon completion of command.
     */
    rampPower(fromPower, toPower, time) {
        const powerValues = (0, utils_1.calculateRamp)(fromPower, toPower, time);
        powerValues.forEach(value => {
            this.setPower(value);
            this.addPortOutputSleep(Math.round(time / powerValues.length));
        });
        return this.setPower(toPower);
    }
    /**
     * Stop the motor. Previous commands that have not completed are discarded.
     * @method BasicMotor#stop
     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
     */
    stop() {
        return this.setPower(0, true);
    }
    /**
     * Brake the motor. Previous commands that have not completed are discarded.
     * @method BasicMotor#brake
     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
     */
    brake() {
        return this.setPower(Consts.BrakingStyle.BRAKE, true);
    }
}
exports.BasicMotor = BasicMotor;
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