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Added setSpeed, virtual port multiparam options
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This commit is contained in:
Nathan Kellenicki 2020-01-09 12:05:05 -08:00
parent b43b59e526
commit f7e86d32cf
3 changed files with 56 additions and 5 deletions
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4
src/devices/basicmotor.ts
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@ -15,8 +15,8 @@ export class BasicMotor extends Device {
/** /**
* Set the motor speed. * Set the motor power.
* @method BasicMotor#power * @method BasicMotor#setPower
* @param {number} power For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. * @param {number} power For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
* @returns {Promise} Resolved upon successful completion of command. * @returns {Promise} Resolved upon successful completion of command.
*/ */

55
src/devices/tachomotor.ts
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@ -27,6 +27,46 @@ export class TachoMotor extends BasicMotor {
} }
} }
/**
* 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.
* @returns {Promise} Resolved upon successful completion of command.
*/
public setSpeed (speed: [number, number] | number, time: number | undefined) {
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");
}
return new Promise((resolve) => {
this._busy = true;
if (speed === undefined || speed === null) {
speed = 100;
}
let message;
if (time !== undefined) {
if (speed instanceof Array) {
message = Buffer.from([0x81, this.portId, 0x11, 0x0a, 0x00, 0x00, mapSpeed(speed[0]), mapSpeed(speed[1]), 0x64, 0x7f, 0x03]);
} else {
message = Buffer.from([0x81, this.portId, 0x11, 0x09, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
}
message.writeUInt16LE(time, 4);
} else {
if (speed instanceof Array) {
message = Buffer.from([0x81, this.portId, 0x11, 0x08, mapSpeed(speed[0]), mapSpeed(speed[1]), 0x64, 0x7f, 0x03]);
} else {
message = Buffer.from([0x81, this.portId, 0x11, 0x07, mapSpeed(speed), 0x64, 0x03, 0x64, 0x7f, 0x03]);
}
}
this.send(message);
this._finished = () => {
return resolve();
};
});
}
/** /**
* Rotate a motor by a given angle. * Rotate a motor by a given angle.
* @method TachoMotor#rotateByAngle * @method TachoMotor#rotateByAngle
@ -34,13 +74,24 @@ export class TachoMotor extends BasicMotor {
* @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. * @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). * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
*/ */
public rotateByAngle (angle: number, speed: number = 100) { public rotateByAngle (angle: number, speed: [number, number] | number) {
if (!this.isVirtualPort && speed instanceof Array) {
throw new Error("Only virtual ports can accept multiple speeds");
}
if (this.isWeDo2SmartHub) { if (this.isWeDo2SmartHub) {
throw new Error("Angle rotation is not available on the WeDo 2.0 Smart Hub"); throw new Error("Angle rotation is not available on the WeDo 2.0 Smart Hub");
} }
return new Promise((resolve) => { return new Promise((resolve) => {
this._busy = true; this._busy = true;
const message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]); if (speed === undefined || speed === null) {
speed = 100;
}
let message;
if (speed instanceof Array) {
message = Buffer.from([0x81, this.portId, 0x11, 0x0c, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed[0]), mapSpeed(speed[1]), 0x64, 0x7f, 0x03]);
} else {
message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
}
message.writeUInt32LE(angle, 4); message.writeUInt32LE(angle, 4);
this.send(message); this.send(message);
this._finished = () => { this._finished = () => {

2
src/hubs/lpf2hub.ts
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@ -106,7 +106,7 @@ export class LPF2Hub extends BaseHub {
if (firstDevice.type !== secondDevice.type) { if (firstDevice.type !== secondDevice.type) {
throw new Error(`Both devices must be of the same type to create a virtual port`); throw new Error(`Both devices must be of the same type to create a virtual port`);
} }
this.send(Buffer.from([0x61, 0x01, firstPortId, secondPortId]), Consts.BLECharacteristic.LPF2_ALL); this.send(Buffer.from([0x61, 0x01, firstDevice.portId, secondDevice.portId]), Consts.BLECharacteristic.LPF2_ALL);
} }