Initial absolute motor support

src/devices/absolutemotor.ts

@@ -0,0 +1,109 @@
+import { TachoMotor } from "./tachomotor";
+
+import { IDeviceInterface } from "../interfaces";
+
+import * as Consts from "../consts";
+import { mapSpeed } from "../utils";
+
+export class AbsoluteMotor extends TachoMotor {
+
+    constructor (hub: IDeviceInterface, portId: number, modeMap: {[event: string]: number} = {}, type: Consts.DeviceType = Consts.DeviceType.UNKNOWN) {
+        super(hub, portId, Object.assign({}, modeMap, ModeMap), type);
+    }
+
+    public receive (message: Buffer) {
+        const mode = this._mode;
+
+        switch (mode) {
+            case Mode.ABSOLUTE:
+                // const absolute = message.readInt32LE(this.isWeDo2SmartHub ? 2 : 4);
+                // /**
+                //  * Emits when a the motors absolute position is changed.
+                //  * @event AbsoluteMotor#absolute
+                //  * @param {number} absolute
+                //  */
+                // this.emitGlobal("absolute", { absolute });
+                break;
+            default:
+                super.receive(message);
+                break;
+        }
+    }
+
+    /**
+     * Rotate a motor by a given angle.
+     * @method AbsoluteMotor#gotoAbsolutePosition
+     * @param {number} position 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).
+     */
+    public gotoAbsolutePosition (position: [number, number] | number, speed: number = 100) {
+        if (!this.isVirtualPort && position 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");
+        }
+        return new Promise((resolve) => {
+            this._busy = true;
+            if (speed === undefined || speed === null) {
+                speed = 100;
+            }
+            let message;
+            if (position instanceof Array) {
+                message = Buffer.from([0x81, this.portId, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
+                message.writeUInt32LE(position[0], 4);
+                message.writeUInt32LE(position[1], 8);
+            } else {
+                message = Buffer.from([0x81, this.portId, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
+                message.writeUInt32LE(position, 4);
+            }
+            this.send(message);
+            this._finished = () => {
+                return resolve();
+            };
+        });
+    }
+
+    /**
+     * (Re)set the knowledge of the absolute position to the current position.
+     * @method AbsoluteMotor#resetAbsolutePosition
+     * @param {number} position Position to set (degrees from 0).
+     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     */
+    public resetAbsolutePosition (position: [number, number] | number) {
+        if (!this.isVirtualPort && position 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");
+        }
+        return new Promise((resolve) => {
+            this._busy = true;
+            let message;
+            if (position instanceof Array) {
+                message = Buffer.from([0x81, this.portId, 0x11, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]);
+                message.writeUInt32LE(position[0], 4);
+                message.writeUInt32LE(position[0], 8);
+            } else {
+                message = Buffer.from([0x81, this.portId, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
+                message.writeUInt32LE(position, 5);
+            }
+            this.send(message);
+            this._finished = () => {
+                return resolve();
+            };
+        });
+    }
+
+}
+
+export enum Mode {
+    ROTATION = 0x02,
+    ABSOLUTE = 0x03
+}
+
+export const ModeMap: {[event: string]: number} = {
+    "rotate": Mode.ROTATION,
+    "absolute": Mode.ABSOLUTE
+};

src/devices/techniclargelinearmotor.ts

@@ -1,10 +1,10 @@
-import { TachoMotor } from "./tachomotor";
+import { AbsoluteMotor } from "./absolutemotor";
 
 import { IDeviceInterface } from "../interfaces";
 
 import * as Consts from "../consts";
 
-export class TechnicLargeLinearMotor extends TachoMotor {
+export class TechnicLargeLinearMotor extends AbsoluteMotor {
 
     constructor (hub: IDeviceInterface, portId: number) {
         super(hub, portId, {}, Consts.DeviceType.TECHNIC_LARGE_LINEAR_MOTOR);

src/devices/technicxlargelinearmotor.ts

@@ -1,10 +1,10 @@
-import { TachoMotor } from "./tachomotor";
+import { AbsoluteMotor } from "./absolutemotor";
 
 import { IDeviceInterface } from "../interfaces";
 
 import * as Consts from "../consts";
 
-export class TechnicXLargeLinearMotor extends TachoMotor {
+export class TechnicXLargeLinearMotor extends AbsoluteMotor {
 
     constructor (hub: IDeviceInterface, portId: number) {
         super(hub, portId, {}, Consts.DeviceType.TECHNIC_XLARGE_LINEAR_MOTOR);