Added speed ramping capability

DOCS.md

@@ -82,6 +82,7 @@ Emits when a LPF2 Hub device is found.
     * [.setLEDColor(color)](#WeDo2SmartHub+setLEDColor) ⇒ <code>Promise</code>
     * [.setLEDRGB(red, green, blue)](#WeDo2SmartHub+setLEDRGB) ⇒ <code>Promise</code>
     * [.setMotorSpeed(port, speed, [time])](#WeDo2SmartHub+setMotorSpeed) ⇒ <code>Promise</code>
+    * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#WeDo2SmartHub+rampMotorSpeed) ⇒ <code>Promise</code>
     * [.playSound(frequency, time)](#WeDo2SmartHub+playSound) ⇒ <code>Promise</code>
     * [.connect()](#Hub+connect) ⇒ <code>Promise</code>
     * [.disconnect()](#Hub+disconnect) ⇒ <code>Promise</code>
@@ -198,6 +199,21 @@ Set the motor speed on a given port.
 | speed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
 | [time] | <code>number</code> | How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely. |
 
+<a name="WeDo2SmartHub+rampMotorSpeed"></a>
+
+### weDo2SmartHub.rampMotorSpeed(port, fromSpeed, toSpeed, time) ⇒ <code>Promise</code>
+Ramp the motor speed on a given port.
+
+**Kind**: instance method of [<code>WeDo2SmartHub</code>](#WeDo2SmartHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type | Description |
+| --- | --- | --- |
+| port | <code>string</code> |  |
+| fromSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| time | <code>number</code> | How long the ramp should last (in milliseconds). |
+
 <a name="WeDo2SmartHub+playSound"></a>
 
 ### weDo2SmartHub.playSound(frequency, time) ⇒ <code>Promise</code>
@@ -378,6 +394,7 @@ Emits when an attached motor or sensor is detached from the Hub.
     * [.batteryLevel](#Hub+batteryLevel)
     * [.setLEDColor(color)](#BoostMoveHub+setLEDColor) ⇒ <code>Promise</code>
     * [.setMotorSpeed(port, speed, [time])](#BoostMoveHub+setMotorSpeed) ⇒ <code>Promise</code>
+    * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#BoostMoveHub+rampMotorSpeed) ⇒ <code>Promise</code>
     * [.setMotorAngle(port, angle, [speed])](#BoostMoveHub+setMotorAngle) ⇒ <code>Promise</code>
     * [.setName(name)](#LPF2Hub+setName) ⇒ <code>Promise</code>
     * [.connect()](#Hub+connect) ⇒ <code>Promise</code>
@@ -480,6 +497,21 @@ Set the motor speed on a given port.
 | speed | <code>number</code> \| <code>Array.&lt;number&gt;</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds. |
 | [time] | <code>number</code> | How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely. |
 
+<a name="BoostMoveHub+rampMotorSpeed"></a>
+
+### boostMoveHub.rampMotorSpeed(port, fromSpeed, toSpeed, time) ⇒ <code>Promise</code>
+Ramp the motor speed on a given port.
+
+**Kind**: instance method of [<code>BoostMoveHub</code>](#BoostMoveHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type | Description |
+| --- | --- | --- |
+| port | <code>string</code> |  |
+| fromSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| time | <code>number</code> | How long the ramp should last (in milliseconds). |
+
 <a name="BoostMoveHub+setMotorAngle"></a>
 
 ### boostMoveHub.setMotorAngle(port, angle, [speed]) ⇒ <code>Promise</code>
@@ -673,6 +705,7 @@ Emits when an attached motor or sensor is detached from the Hub.
     * [.batteryLevel](#Hub+batteryLevel)
     * [.setLEDColor(color)](#PUPHub+setLEDColor) ⇒ <code>Promise</code>
     * [.setMotorSpeed(port, speed, [time])](#PUPHub+setMotorSpeed) ⇒ <code>Promise</code>
+    * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#PUPHub+rampMotorSpeed) ⇒ <code>Promise</code>
     * [.setName(name)](#LPF2Hub+setName) ⇒ <code>Promise</code>
     * [.connect()](#Hub+connect) ⇒ <code>Promise</code>
     * [.disconnect()](#Hub+disconnect) ⇒ <code>Promise</code>
@@ -773,6 +806,21 @@ Set the motor speed on a given port.
 | speed | <code>number</code> \| <code>Array.&lt;number&gt;</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds. |
 | [time] | <code>number</code> | How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely. |
 
+<a name="PUPHub+rampMotorSpeed"></a>
+
+### pupHub.rampMotorSpeed(port, fromSpeed, toSpeed, time) ⇒ <code>Promise</code>
+Ramp the motor speed on a given port.
+
+**Kind**: instance method of [<code>PUPHub</code>](#PUPHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type | Description |
+| --- | --- | --- |
+| port | <code>string</code> |  |
+| fromSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| time | <code>number</code> | How long the ramp should last (in milliseconds). |
+
 <a name="LPF2Hub+setName"></a>
 
 ### pupHub.setName(name) ⇒ <code>Promise</code>

README.md

@@ -134,6 +134,7 @@ Emits when a LPF2 Hub device is found.
     * [.setLEDColor(color)](#WeDo2SmartHub+setLEDColor) ⇒ <code>Promise</code>
     * [.setLEDRGB(red, green, blue)](#WeDo2SmartHub+setLEDRGB) ⇒ <code>Promise</code>
     * [.setMotorSpeed(port, speed, [time])](#WeDo2SmartHub+setMotorSpeed) ⇒ <code>Promise</code>
+    * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#WeDo2SmartHub+rampMotorSpeed) ⇒ <code>Promise</code>
     * [.playSound(frequency, time)](#WeDo2SmartHub+playSound) ⇒ <code>Promise</code>
     * [.connect()](#Hub+connect) ⇒ <code>Promise</code>
     * [.disconnect()](#Hub+disconnect) ⇒ <code>Promise</code>
@@ -250,6 +251,21 @@ Set the motor speed on a given port.
 | speed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
 | [time] | <code>number</code> | How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely. |
 
+<a name="WeDo2SmartHub+rampMotorSpeed"></a>
+
+### weDo2SmartHub.rampMotorSpeed(port, fromSpeed, toSpeed, time) ⇒ <code>Promise</code>
+Ramp the motor speed on a given port.
+
+**Kind**: instance method of [<code>WeDo2SmartHub</code>](#WeDo2SmartHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type | Description |
+| --- | --- | --- |
+| port | <code>string</code> |  |
+| fromSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| time | <code>number</code> | How long the ramp should last (in milliseconds). |
+
 <a name="WeDo2SmartHub+playSound"></a>
 
 ### weDo2SmartHub.playSound(frequency, time) ⇒ <code>Promise</code>
@@ -430,6 +446,7 @@ Emits when an attached motor or sensor is detached from the Hub.
     * [.batteryLevel](#Hub+batteryLevel)
     * [.setLEDColor(color)](#BoostMoveHub+setLEDColor) ⇒ <code>Promise</code>
     * [.setMotorSpeed(port, speed, [time])](#BoostMoveHub+setMotorSpeed) ⇒ <code>Promise</code>
+    * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#BoostMoveHub+rampMotorSpeed) ⇒ <code>Promise</code>
     * [.setMotorAngle(port, angle, [speed])](#BoostMoveHub+setMotorAngle) ⇒ <code>Promise</code>
     * [.setName(name)](#LPF2Hub+setName) ⇒ <code>Promise</code>
     * [.connect()](#Hub+connect) ⇒ <code>Promise</code>
@@ -532,6 +549,21 @@ Set the motor speed on a given port.
 | speed | <code>number</code> \| <code>Array.&lt;number&gt;</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds. |
 | [time] | <code>number</code> | How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely. |
 
+<a name="BoostMoveHub+rampMotorSpeed"></a>
+
+### boostMoveHub.rampMotorSpeed(port, fromSpeed, toSpeed, time) ⇒ <code>Promise</code>
+Ramp the motor speed on a given port.
+
+**Kind**: instance method of [<code>BoostMoveHub</code>](#BoostMoveHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type | Description |
+| --- | --- | --- |
+| port | <code>string</code> |  |
+| fromSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| time | <code>number</code> | How long the ramp should last (in milliseconds). |
+
 <a name="BoostMoveHub+setMotorAngle"></a>
 
 ### boostMoveHub.setMotorAngle(port, angle, [speed]) ⇒ <code>Promise</code>
@@ -725,6 +757,7 @@ Emits when an attached motor or sensor is detached from the Hub.
     * [.batteryLevel](#Hub+batteryLevel)
     * [.setLEDColor(color)](#PUPHub+setLEDColor) ⇒ <code>Promise</code>
     * [.setMotorSpeed(port, speed, [time])](#PUPHub+setMotorSpeed) ⇒ <code>Promise</code>
+    * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#PUPHub+rampMotorSpeed) ⇒ <code>Promise</code>
     * [.setName(name)](#LPF2Hub+setName) ⇒ <code>Promise</code>
     * [.connect()](#Hub+connect) ⇒ <code>Promise</code>
     * [.disconnect()](#Hub+disconnect) ⇒ <code>Promise</code>
@@ -825,6 +858,21 @@ Set the motor speed on a given port.
 | speed | <code>number</code> \| <code>Array.&lt;number&gt;</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds. |
 | [time] | <code>number</code> | How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely. |
 
+<a name="PUPHub+rampMotorSpeed"></a>
+
+### pupHub.rampMotorSpeed(port, fromSpeed, toSpeed, time) ⇒ <code>Promise</code>
+Ramp the motor speed on a given port.
+
+**Kind**: instance method of [<code>PUPHub</code>](#PUPHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type | Description |
+| --- | --- | --- |
+| port | <code>string</code> |  |
+| fromSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
+| time | <code>number</code> | How long the ramp should last (in milliseconds). |
+
 <a name="LPF2Hub+setName"></a>
 
 ### pupHub.setName(name) ⇒ <code>Promise</code>

boostmovehub.ts

@@ -133,6 +133,24 @@ export class BoostMoveHub extends LPF2Hub {
     }
 
 
+    /**
+     * Ramp the motor speed on a given port.
+     * @method BoostMoveHub#rampMotorSpeed
+     * @param {string} port
+     * @param {number} fromSpeed For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
+     * @param {number} toSpeed 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} Resolved upon successful completion of command.
+     */
+    public rampMotorSpeed (port: string, fromSpeed: number, toSpeed: number, time: number) {
+        return new Promise((resolve, reject) => {
+            this._calculateRamp(fromSpeed, toSpeed, time).on("changeSpeed", (speed) => {
+                this.setMotorSpeed(port, speed);
+            }).on("finished", resolve);
+        });
+    }
+
+
     /**
      * Rotate a motor by a given angle.
      * @method BoostMoveHub#setMotorAngle

hub.ts

@@ -6,6 +6,7 @@ import { Port } from "./port";
 import * as Consts from "./consts";
 
 import Debug = require("debug");
+import { resolve } from "path";
 const debug = Debug("hub");
 
 
@@ -89,7 +90,6 @@ export class Hub extends EventEmitter {
             this._peripheral.connect((err: string) => {
 
                 this._rssi = this._peripheral.rssi;
-
                 const rssiUpdateInterval = setInterval(() => {
                     this._peripheral.updateRssi((err: string, rssi: number) => {
                         if (!err) {
@@ -113,22 +113,16 @@ export class Hub extends EventEmitter {
                     }
 
                     debug("Service/characteristic discovery started");
-
                     const servicePromises: Array<Promise<null>> = [];
-
                     services.forEach((service) => {
-
                         servicePromises.push(new Promise((resolve, reject) => {
-
                             service.discoverCharacteristics([], (err, characteristics) => {
                                 characteristics.forEach((characteristic) => {
                                     this._characteristics[characteristic.uuid] = characteristic;
                                 });
                                 return resolve();
                             });
-
                         }));
-
                     });
 
                     Promise.all(servicePromises).then(() => {
@@ -303,13 +297,43 @@ export class Hub extends EventEmitter {
             if (speed < -100) {
                 speed = -100;
             }
-            return Math.round((speed - -100) * (240 - 158) / (-1 - -100) + 158); // In reverse, minimum speed is 245, maximum speed is 160
+            return Math.round((speed - -100) * (240 - 158) / (-1 - -100) + 158); // In reverse, minimum speed is 240, maximum speed is 158
         } else {
             return 0;
         }
     }
 
 
+    protected _calculateRamp (fromSpeed: number, toSpeed: number, time: number) {
+        const emitter = new EventEmitter();
+        const steps = Math.abs(toSpeed - fromSpeed);
+        let delay = time / steps;
+        let increment = 1;
+        if (delay < 50 && steps > 0) {
+            increment = 50 / delay;
+            delay = 50;
+        }
+        if (fromSpeed > toSpeed) {
+            increment = -increment;
+        }
+        let i = 0;
+        const interval = setInterval(() => {
+            let speed = Math.round(fromSpeed + (++i * increment));
+            if (toSpeed > fromSpeed && speed > toSpeed) {
+                speed = toSpeed;
+            } else if (fromSpeed > toSpeed && speed < toSpeed) {
+                speed = toSpeed;
+            }
+            emitter.emit("changeSpeed", speed);
+            if (speed === toSpeed) {
+                clearInterval(interval);
+                emitter.emit("finished");
+            }
+        }, delay);
+        return emitter;
+}
+
+
     protected _portLookup (port: string) {
         if (!this._ports[port.toUpperCase()]) {
             throw new Error(`Port ${port.toUpperCase()} does not exist on this Hub type`);

puphub.ts

@@ -6,6 +6,7 @@ import { Port } from "./port";
 import * as Consts from "./consts";
 
 import Debug = require("debug");
+import { resolve } from "path";
 const debug = Debug("puphub");
 
 
@@ -126,4 +127,22 @@ export class PUPHub extends LPF2Hub {
     }
 
 
+    /**
+     * Ramp the motor speed on a given port.
+     * @method PUPHub#rampMotorSpeed
+     * @param {string} port
+     * @param {number} fromSpeed For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
+     * @param {number} toSpeed 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} Resolved upon successful completion of command.
+     */
+    public rampMotorSpeed (port: string, fromSpeed: number, toSpeed: number, time: number) {
+        return new Promise((resolve, reject) => {
+            this._calculateRamp(fromSpeed, toSpeed, time).on("changeSpeed", (speed) => {
+                this.setMotorSpeed(port, speed);
+            }).on("finished", resolve);
+        });
+    }
+
+
 }

wedo2smarthub.ts

@@ -136,6 +136,24 @@ export class WeDo2SmartHub extends Hub {
     }
 
 
+    /**
+     * Ramp the motor speed on a given port.
+     * @method WeDo2SmartHub#rampMotorSpeed
+     * @param {string} port
+     * @param {number} fromSpeed For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
+     * @param {number} toSpeed 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} Resolved upon successful completion of command.
+     */
+    public rampMotorSpeed (port: string, fromSpeed: number, toSpeed: number, time: number) {
+        return new Promise((resolve, reject) => {
+            this._calculateRamp(fromSpeed, toSpeed, time).on("changeSpeed", (speed) => {
+                this.setMotorSpeed(port, speed);
+            }).on("finished", resolve);
+        });
+    }
+
+
     /**
      * Play a sound on the Hub's in-built buzzer
      * @method WeDo2SmartHub#playSound