"use strict";
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Object.defineProperty(exports, "__esModule", { value: true });
exports.ModeMap = exports.Mode = exports.TachoMotor = void 0;
const basicmotor_1 = require("./basicmotor");
const Consts = __importStar(require("../consts"));
const utils_1 = require("../utils");
/**
* @class TachoMotor
* @extends BasicMotor
*/
class TachoMotor extends basicmotor_1.BasicMotor {
constructor(hub, portId, modeMap = {}, type = Consts.DeviceType.UNKNOWN) {
super(hub, portId, Object.assign({}, modeMap, exports.ModeMap), type);
this._brakeStyle = Consts.BrakingStyle.BRAKE;
this._maxPower = 100;
this.useAccelerationProfile = true;
this.useDecelerationProfile = true;
}
receive(message) {
const mode = this._mode;
switch (mode) {
case Mode.ROTATION:
const degrees = message.readInt32LE(this.isWeDo2SmartHub ? 2 : 4);
/**
* Emits when a rotation sensor is activated.
* @event TachoMotor#rotate
* @type {object}
* @param {number} rotation
*/
this.notify("rotate", { degrees });
break;
}
}
/**
* Set the braking style of the motor.
*
* Note: This applies to setSpeed, rotateByDegrees, and gotoAngle.
* @method TachoMotor#setBrakingStyle
* @param {number} style Either BRAKE or HOLD
*/
setBrakingStyle(style) {
this._brakeStyle = style;
}
/**
* Set the max power of the motor.
*
* Note: This applies to setSpeed, rotateByDegrees, and gotoAngle.
* @method TachoMotor#setMaxPower
* @param {number} style Either BRAKE or HOLD
*/
setMaxPower(maxPower) {
this._maxPower = maxPower;
}
/**
* Set the global acceleration time
* @method TachoMotor#setAccelerationTime
* @param {number} time How long acceleration should last (in milliseconds).
* @param {number} profile 0 by default
* @param {boolean} [interrupt=false] If true, previous commands are discarded.
* @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
*/
setAccelerationTime(time, profile = 0x00, interrupt = false) {
const message = Buffer.from([0x05, 0x00, 0x00, profile]);
message.writeUInt16LE(time, 1);
return this.sendPortOutputCommand(message, interrupt);
}
/**
* Set the global deceleration time
* @method TachoMotor#setDecelerationTime
* @param {number} time How long deceleration should last (in milliseconds).
* @param {number} profile 0 by default
* @param {boolean} [interrupt=false] If true, previous commands are discarded.
* @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
*/
setDecelerationTime(time, profile = 0x00, interrupt = true) {
const message = Buffer.from([0x06, 0x00, 0x00, profile]);
message.writeUInt16LE(time, 1);
return this.sendPortOutputCommand(message, interrupt);
}
/**
* Set the motor speed.
* @method TachoMotor#setSpeed
* @param {number} speed 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 motor should run for (in milliseconds).
* @param {boolean} [interrupt=false] If true, previous commands are discarded.
* @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
*/
setSpeed(speed, time, interrupt = false) {
if (!this.isVirtualPort && speed instanceof Array) {
throw new Error("Only virtual ports can accept multiple speeds");
}
if (this.isWeDo2SmartHub) {
throw new Error("Motor speed is not available on the WeDo 2.0 Smart Hub");
}
if (speed === undefined || speed === null) {
speed = 100;
}
let message;
if (time !== undefined) {
if (speed instanceof Array) {
message = Buffer.from([0x0a, 0x00, 0x00, (0, utils_1.mapSpeed)(speed[0]), (0, utils_1.mapSpeed)(speed[1]), this._maxPower, this._brakeStyle, this.useProfile()]);
}
else {
message = Buffer.from([0x09, 0x00, 0x00, (0, utils_1.mapSpeed)(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
}
message.writeUInt16LE(time, 1);
}
else {
if (speed instanceof Array) {
message = Buffer.from([0x08, (0, utils_1.mapSpeed)(speed[0]), (0, utils_1.mapSpeed)(speed[1]), this._maxPower, this.useProfile()]);
}
else {
message = Buffer.from([0x07, (0, utils_1.mapSpeed)(speed), this._maxPower, this.useProfile()]);
}
}
return this.sendPortOutputCommand(message, interrupt);
}
/**
* Rotate a motor by a given amount of degrees.
* @method TachoMotor#rotateByDegrees
* @param {number} degrees How much the motor should be rotated (in degrees).
* @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
* @param {boolean} [interrupt=false] If true, previous commands are discarded.
* @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
*/
rotateByDegrees(degrees, speed, interrupt = false) {
if (!this.isVirtualPort && speed instanceof Array) {
throw new Error("Only virtual ports can accept multiple speeds");
}
if (this.isWeDo2SmartHub) {
throw new Error("Rotation is not available on the WeDo 2.0 Smart Hub");
}
if (speed === undefined || speed === null) {
speed = 100;
}
let message;
if (speed instanceof Array) {
message = Buffer.from([0x0c, 0x00, 0x00, 0x00, 0x00, (0, utils_1.mapSpeed)(speed[0]), (0, utils_1.mapSpeed)(speed[1]), this._maxPower, this._brakeStyle, this.useProfile()]);
}
else {
message = Buffer.from([0x0b, 0x00, 0x00, 0x00, 0x00, (0, utils_1.mapSpeed)(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
}
message.writeUInt32LE(degrees, 1);
return this.sendPortOutputCommand(message, interrupt);
}
useProfile() {
let value = 0x00;
if (this.useAccelerationProfile) {
value += 0x01;
}
if (this.useDecelerationProfile) {
value += 0x02;
}
return value;
}
}
exports.TachoMotor = TachoMotor;
var Mode;
(function (Mode) {
Mode[Mode["ROTATION"] = 2] = "ROTATION";
})(Mode || (exports.Mode = Mode = {}));
exports.ModeMap = {
"rotate": Mode.ROTATION
};
//# sourceMappingURL=tachomotor.js.map