# devices/absolutemotor.js

    "use strict";
    var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
        if (k2 === undefined) k2 = k;
        Object.defineProperty(o, k2, { enumerable: true, get: function() { return m[k]; } });
    }) : (function(o, m, k, k2) {
        if (k2 === undefined) k2 = k;
        o[k2] = m[k];
    }));
    var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
        Object.defineProperty(o, "default", { enumerable: true, value: v });
    }) : function(o, v) {
        o["default"] = v;
    });
    var __importStar = (this && this.__importStar) || function (mod) {
        if (mod && mod.__esModule) return mod;
        var result = {};
        if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
        __setModuleDefault(result, mod);
        return result;
    };
    Object.defineProperty(exports, "__esModule", { value: true });
    exports.ModeMap = exports.Mode = exports.AbsoluteMotor = void 0;
    const tachomotor_1 = require("./tachomotor");
    const Consts = __importStar(require("../consts"));
    const utils_1 = require("../utils");
    /**
     * @class AbsoluteMotor
     * @extends TachoMotor
     */
    class AbsoluteMotor extends tachomotor_1.TachoMotor {
        constructor(hub, portId, modeMap = {}, type = Consts.DeviceType.UNKNOWN) {
            super(hub, portId, Object.assign({}, modeMap, exports.ModeMap), type);
        }
        receive(message) {
            const mode = this._mode;
            switch (mode) {
                case Mode.ABSOLUTE:
                    const angle = (0, utils_1.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.
         * @method AbsoluteMotor#gotoAngle
         * @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, (0, utils_1.mapSpeed)(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
                    message.writeInt32LE((0, utils_1.normalizeAngle)(angle[0]), 4);
                    message.writeInt32LE((0, utils_1.normalizeAngle)(angle[1]), 8);
                }
                else {
                    message = Buffer.from([0x81, this.portId, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, (0, utils_1.mapSpeed)(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
                    message.writeInt32LE((0, utils_1.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.
         * @method AbsoluteMotor#gotoRealZero
         * @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
         * @method AbsoluteMotor#resetZero
         * @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();
            });
        }
    }
    exports.AbsoluteMotor = AbsoluteMotor;
    var Mode;
    (function (Mode) {
        Mode[Mode["ROTATION"] = 2] = "ROTATION";
        Mode[Mode["ABSOLUTE"] = 3] = "ABSOLUTE";
    })(Mode = exports.Mode || (exports.Mode = {}));
    exports.ModeMap = {
        "rotate": Mode.ROTATION,
        "absolute": Mode.ABSOLUTE
    };
    //# sourceMappingURL=absolutemotor.js.map