Added ability to reset absolute zero

docs/BoostMoveHub.html

@@ -1257,7 +1257,7 @@
 		<ul class="dummy">
 			<li>
 				<a href="boostmovehub.js.html">boostmovehub.js</a>,
-				 <a href="boostmovehub.js.html#sunlight-1-line-229">line 229</a>
+				 <a href="boostmovehub.js.html#sunlight-1-line-247">line 247</a>
 			</li>
 		</ul>
 	</dd>
@@ -2088,6 +2088,168 @@
         
 
     
+</dd>
+
+        
+            
+<hr>
+<dt>
+    <h4 class="name" id="resetAbsolutePosition"><span class="type-signature"></span>resetAbsolutePosition(port)</h4>
+    
+    
+</dt>
+<dd>
+
+    
+    <div class="description">
+        <p>Reset the current motor position as absolute position zero</p>
+    </div>
+    
+
+    
+
+    
+
+    
+    
+        <h5>Parameters:</h5>
+        
+
+<table class="params table table-striped">
+    <thead>
+    <tr>
+        
+        <th>Name</th>
+        
+
+        <th>Type</th>
+
+        
+
+        
+
+        <th class="last">Description</th>
+    </tr>
+    </thead>
+
+    <tbody>
+    
+
+        <tr>
+            
+                <td class="name"><code>port</code></td>
+            
+
+            <td class="type">
+            
+                
+<span class="param-type">string</span>
+
+
+
+            
+            </td>
+
+            
+
+            
+
+            <td class="description last"></td>
+        </tr>
+
+    
+    </tbody>
+</table>
+
+    
+
+    
+<dl class="details">
+    
+
+	
+
+	
+
+	
+
+    
+
+    
+
+    
+
+    
+
+	
+
+	
+
+	
+
+	
+
+	
+
+
+
+	
+	<dt class="tag-source method-doc-label method-doc-details-label">Source:</dt>
+	<dd class="tag-source">
+		<ul class="dummy">
+			<li>
+				<a href="boostmovehub.js.html">boostmovehub.js</a>,
+				 <a href="boostmovehub.js.html#sunlight-1-line-229">line 229</a>
+			</li>
+		</ul>
+	</dd>
+	
+
+	
+
+	
+
+	
+</dl>
+
+
+    
+
+    
+
+    
+
+    
+
+    
+
+    
+    <h5>Returns:</h5>
+    
+            
+<div class="param-desc">
+    <p>Resolved upon successful completion of command (ie. once the motor is finished).</p>
+</div>
+
+
+
+<dl>
+    <dt>
+        Type
+    </dt>
+    <dd>
+        
+<span class="param-type">Promise</span>
+
+
+
+    </dd>
+</dl>
+
+
+        
+
+    
 </dd>
 
         
@@ -2922,7 +3084,7 @@
 		<ul class="dummy">
 			<li>
 				<a href="boostmovehub.js.html">boostmovehub.js</a>,
-				 <a href="boostmovehub.js.html#sunlight-1-line-238">line 238</a>
+				 <a href="boostmovehub.js.html#sunlight-1-line-256">line 256</a>
 			</li>
 		</ul>
 	</dd>

docs/ControlPlusHub.html

@@ -1257,7 +1257,7 @@
 		<ul class="dummy">
 			<li>
 				<a href="controlplushub.js.html">controlplushub.js</a>,
-				 <a href="controlplushub.js.html#sunlight-1-line-224">line 224</a>
+				 <a href="controlplushub.js.html#sunlight-1-line-242">line 242</a>
 			</li>
 		</ul>
 	</dd>
@@ -2088,6 +2088,168 @@
         
 
     
+</dd>
+
+        
+            
+<hr>
+<dt>
+    <h4 class="name" id="resetAbsolutePosition"><span class="type-signature"></span>resetAbsolutePosition(port)</h4>
+    
+    
+</dt>
+<dd>
+
+    
+    <div class="description">
+        <p>Reset the current motor position as absolute position zero</p>
+    </div>
+    
+
+    
+
+    
+
+    
+    
+        <h5>Parameters:</h5>
+        
+
+<table class="params table table-striped">
+    <thead>
+    <tr>
+        
+        <th>Name</th>
+        
+
+        <th>Type</th>
+
+        
+
+        
+
+        <th class="last">Description</th>
+    </tr>
+    </thead>
+
+    <tbody>
+    
+
+        <tr>
+            
+                <td class="name"><code>port</code></td>
+            
+
+            <td class="type">
+            
+                
+<span class="param-type">string</span>
+
+
+
+            
+            </td>
+
+            
+
+            
+
+            <td class="description last"></td>
+        </tr>
+
+    
+    </tbody>
+</table>
+
+    
+
+    
+<dl class="details">
+    
+
+	
+
+	
+
+	
+
+    
+
+    
+
+    
+
+    
+
+	
+
+	
+
+	
+
+	
+
+	
+
+
+
+	
+	<dt class="tag-source method-doc-label method-doc-details-label">Source:</dt>
+	<dd class="tag-source">
+		<ul class="dummy">
+			<li>
+				<a href="controlplushub.js.html">controlplushub.js</a>,
+				 <a href="controlplushub.js.html#sunlight-1-line-224">line 224</a>
+			</li>
+		</ul>
+	</dd>
+	
+
+	
+
+	
+
+	
+</dl>
+
+
+    
+
+    
+
+    
+
+    
+
+    
+
+    
+    <h5>Returns:</h5>
+    
+            
+<div class="param-desc">
+    <p>Resolved upon successful completion of command (ie. once the motor is finished).</p>
+</div>
+
+
+
+<dl>
+    <dt>
+        Type
+    </dt>
+    <dd>
+        
+<span class="param-type">Promise</span>
+
+
+
+    </dd>
+</dl>
+
+
+        
+
+    
 </dd>
 
         
@@ -2922,7 +3084,7 @@
 		<ul class="dummy">
 			<li>
 				<a href="controlplushub.js.html">controlplushub.js</a>,
-				 <a href="controlplushub.js.html#sunlight-1-line-233">line 233</a>
+				 <a href="controlplushub.js.html#sunlight-1-line-251">line 251</a>
 			</li>
 		</ul>
 	</dd>

docs/PUPHub.html

@@ -1257,7 +1257,7 @@
 		<ul class="dummy">
 			<li>
 				<a href="puphub.js.html">puphub.js</a>,
-				 <a href="puphub.js.html#sunlight-1-line-223">line 223</a>
+				 <a href="puphub.js.html#sunlight-1-line-241">line 241</a>
 			</li>
 		</ul>
 	</dd>
@@ -2088,6 +2088,168 @@
         
 
     
+</dd>
+
+        
+            
+<hr>
+<dt>
+    <h4 class="name" id="resetAbsolutePosition"><span class="type-signature"></span>resetAbsolutePosition(port)</h4>
+    
+    
+</dt>
+<dd>
+
+    
+    <div class="description">
+        <p>Reset the current motor position as absolute position zero</p>
+    </div>
+    
+
+    
+
+    
+
+    
+    
+        <h5>Parameters:</h5>
+        
+
+<table class="params table table-striped">
+    <thead>
+    <tr>
+        
+        <th>Name</th>
+        
+
+        <th>Type</th>
+
+        
+
+        
+
+        <th class="last">Description</th>
+    </tr>
+    </thead>
+
+    <tbody>
+    
+
+        <tr>
+            
+                <td class="name"><code>port</code></td>
+            
+
+            <td class="type">
+            
+                
+<span class="param-type">string</span>
+
+
+
+            
+            </td>
+
+            
+
+            
+
+            <td class="description last"></td>
+        </tr>
+
+    
+    </tbody>
+</table>
+
+    
+
+    
+<dl class="details">
+    
+
+	
+
+	
+
+	
+
+    
+
+    
+
+    
+
+    
+
+	
+
+	
+
+	
+
+	
+
+	
+
+
+
+	
+	<dt class="tag-source method-doc-label method-doc-details-label">Source:</dt>
+	<dd class="tag-source">
+		<ul class="dummy">
+			<li>
+				<a href="puphub.js.html">puphub.js</a>,
+				 <a href="puphub.js.html#sunlight-1-line-223">line 223</a>
+			</li>
+		</ul>
+	</dd>
+	
+
+	
+
+	
+
+	
+</dl>
+
+
+    
+
+    
+
+    
+
+    
+
+    
+
+    
+    <h5>Returns:</h5>
+    
+            
+<div class="param-desc">
+    <p>Resolved upon successful completion of command (ie. once the motor is finished).</p>
+</div>
+
+
+
+<dl>
+    <dt>
+        Type
+    </dt>
+    <dd>
+        
+<span class="param-type">Promise</span>
+
+
+
+    </dd>
+</dl>
+
+
+        
+
+    
 </dd>
 
         
@@ -2922,7 +3084,7 @@
 		<ul class="dummy">
 			<li>
 				<a href="puphub.js.html">puphub.js</a>,
-				 <a href="puphub.js.html#sunlight-1-line-232">line 232</a>
+				 <a href="puphub.js.html#sunlight-1-line-250">line 250</a>
 			</li>
 		</ul>
 	</dd>

docs/boostmovehub.js.html

@@ -298,13 +298,13 @@ class BoostMoveHub extends lpf2hub_1.LPF2Hub {
             let data = null;
             if (this._virtualPorts[portObj.id]) {
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
-                data.writeUInt32LE(pos, 8);
+                data.writeInt32LE(pos, 8);
             }
             else {
                 // @ts-ignore: The type of speed is properly checked at the start
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
             }
             this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
             portObj.finished = () => {
@@ -312,6 +312,24 @@ class BoostMoveHub extends lpf2hub_1.LPF2Hub {
             };
         });
     }
+    /**
+     * Reset the current motor position as absolute position zero
+     * @method BoostMoveHub#resetAbsolutePosition
+     * @param {string} port
+     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     */
+    resetAbsolutePosition(port) {
+        const portObj = this._portLookup(port);
+        if (!(portObj.type === Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR ||
+            portObj.type === Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR)) {
+            throw new Error("Absolute positioning is only available when using a Control+ Medium Motor, or Control+ Large Motor");
+        }
+        return new Promise((resolve) => {
+            const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
+            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+            return resolve();
+        });
+    }
     /**
      * Fully (hard) stop the motor on a given port.
      * @method BoostMoveHub#brakeMotor

docs/controlplushub.js.html

@@ -293,13 +293,13 @@ class ControlPlusHub extends lpf2hub_1.LPF2Hub {
             let data = null;
             if (this._virtualPorts[portObj.id]) {
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
-                data.writeUInt32LE(pos, 8);
+                data.writeInt32LE(pos, 8);
             }
             else {
                 // @ts-ignore: The type of speed is properly checked at the start
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
             }
             this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
             portObj.finished = () => {
@@ -307,6 +307,24 @@ class ControlPlusHub extends lpf2hub_1.LPF2Hub {
             };
         });
     }
+    /**
+     * Reset the current motor position as absolute position zero
+     * @method ControlPlusHub#resetAbsolutePosition
+     * @param {string} port
+     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     */
+    resetAbsolutePosition(port) {
+        const portObj = this._portLookup(port);
+        if (!(portObj.type === Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR ||
+            portObj.type === Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR)) {
+            throw new Error("Absolute positioning is only available when using a Control+ Medium Motor, or Control+ Large Motor");
+        }
+        return new Promise((resolve) => {
+            const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
+            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+            return resolve();
+        });
+    }
     /**
      * Fully (hard) stop the motor on a given port.
      * @method ControlPlusHub#brakeMotor

docs/lpf2hub.js.html

@@ -534,7 +534,7 @@ class LPF2Hub extends hub_1.Hub {
                      * @param {number} y
                      * @param {number} z (Only available when using a Control+ Hub)
                      */
-                    this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY, this._lastTiltY);
+                    this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY, this._lastTiltZ);
                     break;
                 }
                 case Consts.DeviceType.BOOST_TACHO_MOTOR: {

docs/puphub.js.html

@@ -292,13 +292,13 @@ class PUPHub extends lpf2hub_1.LPF2Hub {
             let data = null;
             if (this._virtualPorts[portObj.id]) {
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
-                data.writeUInt32LE(pos, 8);
+                data.writeInt32LE(pos, 8);
             }
             else {
                 // @ts-ignore: The type of speed is properly checked at the start
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
             }
             this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
             portObj.finished = () => {
@@ -306,6 +306,24 @@ class PUPHub extends lpf2hub_1.LPF2Hub {
             };
         });
     }
+    /**
+     * Reset the current motor position as absolute position zero
+     * @method PUPHub#resetAbsolutePosition
+     * @param {string} port
+     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     */
+    resetAbsolutePosition(port) {
+        const portObj = this._portLookup(port);
+        if (!(portObj.type === Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR ||
+            portObj.type === Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR)) {
+            throw new Error("Absolute positioning is only available when using a Control+ Medium Motor, or Control+ Large Motor");
+        }
+        return new Promise((resolve) => {
+            const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
+            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+            return resolve();
+        });
+    }
     /**
      * Fully (hard) stop the motor on a given port.
      * @method PUPHub#brakeMotor

package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-poweredup",
-  "version": "3.3.0",
+  "version": "3.4.0",
   "description": "A Javascript module to interface with LEGO Powered Up components.",
   "homepage": "https://github.com/nathankellenicki/node-poweredup/",
   "main": "dist/node/index-node.js",

src/boostmovehub.ts

@@ -227,12 +227,12 @@ export class BoostMoveHub extends LPF2Hub {
             let data = null;
             if (this._virtualPorts[portObj.id]) {
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
-                data.writeUInt32LE(pos, 8);
+                data.writeInt32LE(pos, 8);
             } else {
                 // @ts-ignore: The type of speed is properly checked at the start
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
             }
             this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
             portObj.finished = () => {
@@ -242,6 +242,28 @@ export class BoostMoveHub extends LPF2Hub {
     }
 
 
+    /**
+     * Reset the current motor position as absolute position zero
+     * @method BoostMoveHub#resetAbsolutePosition
+     * @param {string} port
+     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     */
+    public resetAbsolutePosition (port: string) {
+        const portObj = this._portLookup(port);
+        if (!(
+            portObj.type === Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR ||
+            portObj.type === Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR
+        )) {
+            throw new Error("Absolute positioning is only available when using a Control+ Medium Motor, or Control+ Large Motor");
+        }
+        return new Promise((resolve) => {
+            const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
+            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+            return resolve();
+        });
+    }
+
+
     /**
      * Fully (hard) stop the motor on a given port.
      * @method BoostMoveHub#brakeMotor

src/controlplushub.ts

@@ -225,12 +225,12 @@ export class ControlPlusHub extends LPF2Hub {
             let data = null;
             if (this._virtualPorts[portObj.id]) {
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
-                data.writeUInt32LE(pos, 8);
+                data.writeInt32LE(pos, 8);
             } else {
                 // @ts-ignore: The type of speed is properly checked at the start
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
             }
             this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
             portObj.finished = () => {
@@ -240,6 +240,28 @@ export class ControlPlusHub extends LPF2Hub {
     }
 
 
+    /**
+     * Reset the current motor position as absolute position zero
+     * @method ControlPlusHub#resetAbsolutePosition
+     * @param {string} port
+     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     */
+    public resetAbsolutePosition (port: string) {
+        const portObj = this._portLookup(port);
+        if (!(
+            portObj.type === Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR ||
+            portObj.type === Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR
+        )) {
+            throw new Error("Absolute positioning is only available when using a Control+ Medium Motor, or Control+ Large Motor");
+        }
+        return new Promise((resolve) => {
+            const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
+            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+            return resolve();
+        });
+    }
+
+
     /**
      * Fully (hard) stop the motor on a given port.
      * @method ControlPlusHub#brakeMotor

src/lpf2hub.ts

@@ -508,7 +508,7 @@ export class LPF2Hub extends Hub {
                      * @param {number} y
                      * @param {number} z (Only available when using a Control+ Hub)
                      */
-                    this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY, this._lastTiltY);
+                    this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY, this._lastTiltZ);
                     break;
                 }
                 case Consts.DeviceType.BOOST_TACHO_MOTOR: {

src/puphub.ts

@@ -219,12 +219,12 @@ export class PUPHub extends LPF2Hub {
             let data = null;
             if (this._virtualPorts[portObj.id]) {
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
-                data.writeUInt32LE(pos, 8);
+                data.writeInt32LE(pos, 8);
             } else {
                 // @ts-ignore: The type of speed is properly checked at the start
                 data = Buffer.from([0x81, portObj.value, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
-                data.writeUInt32LE(pos, 4);
+                data.writeInt32LE(pos, 4);
             }
             this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
             portObj.finished = () => {
@@ -234,6 +234,28 @@ export class PUPHub extends LPF2Hub {
     }
 
 
+    /**
+     * Reset the current motor position as absolute position zero
+     * @method PUPHub#resetAbsolutePosition
+     * @param {string} port
+     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     */
+    public resetAbsolutePosition (port: string) {
+        const portObj = this._portLookup(port);
+        if (!(
+            portObj.type === Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR ||
+            portObj.type === Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR
+        )) {
+            throw new Error("Absolute positioning is only available when using a Control+ Medium Motor, or Control+ Large Motor");
+        }
+        return new Promise((resolve) => {
+            const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
+            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+            return resolve();
+        });
+    }
+
+
     /**
      * Fully (hard) stop the motor on a given port.
      * @method PUPHub#brakeMotor