import { Device } from "./device"; import { IDeviceInterface } from "./interfaces"; import * as Consts from "./consts"; import { mapSpeed } from "./utils"; export class BasicMotor extends Device { constructor (hub: IDeviceInterface, portId: number, type: Consts.DeviceType = Consts.DeviceType.UNKNOWN) { super(hub, portId, type); } /** * Set the motor speed. * @method BasicMotor#power * @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. */ public setPower (power: number) { return new Promise((resolve) => { const isWeDo2 = (this.hub.type === Consts.HubType.WEDO2_SMART_HUB); if (isWeDo2) { const data = Buffer.from([this.portId, 0x01, 0x02, mapSpeed(power)]); this.send(data, Consts.BLECharacteristic.WEDO2_MOTOR_VALUE_WRITE); } else { const data = Buffer.from([0x81, this.portId, 0x11, 0x51, 0x00, mapSpeed(power)]); this.send(data); } return resolve(); }); } /** * Fully (hard) stop the motor. * @method BasicMotor#brake * @returns {Promise} Resolved upon successful completion of command. */ public brake () { return this.setPower(127); } }