Source: devices/absolutemotor.js

"use strict";
var __importStar = (this && this.__importStar) || function (mod) {
    if (mod && mod.__esModule) return mod;
    var result = {};
    if (mod != null) for (var k in mod) if (Object.hasOwnProperty.call(mod, k)) result[k] = mod[k];
    result["default"] = mod;
    return result;
};
Object.defineProperty(exports, "__esModule", { value: true });
const tachomotor_1 = require("./tachomotor");
const Consts = __importStar(require("../consts"));
const utils_1 = require("../utils");
/**
 * @class AbsoluteMotor
 * @extends TachoMotor
 */
class AbsoluteMotor extends tachomotor_1.TachoMotor {
    constructor(hub, portId, modeMap = {}, type = Consts.DeviceType.UNKNOWN) {
        super(hub, portId, Object.assign({}, modeMap, exports.ModeMap), type);
    }
    receive(message) {
        const mode = this._mode;
        switch (mode) {
            case Mode.ABSOLUTE:
                const angle = utils_1.normalizeAngle(message.readInt16LE(this.isWeDo2SmartHub ? 2 : 4));
                /**
                 * Emits when a the motors absolute position is changed.
                 * @event AbsoluteMotor#absolute
                 * @type {object}
                 * @param {number} absolute
                 */
                this.notify("absolute", { angle });
                break;
            default:
                super.receive(message);
                break;
        }
    }
    /**
     * Rotate a motor by a given angle.
     * @method AbsoluteMotor#gotoAngle
     * @param {number} angle 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).
     */
    gotoAngle(angle, speed = 100) {
        if (!this.isVirtualPort && angle 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");
        }
        this.cancelEventTimer();
        return new Promise((resolve) => {
            this._busy = true;
            if (speed === undefined || speed === null) {
                speed = 100;
            }
            let message;
            if (angle instanceof Array) {
                message = Buffer.from([0x81, this.portId, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, utils_1.mapSpeed(speed), 0x64, this._brakeStyle, 0x00]);
                message.writeInt32LE(utils_1.normalizeAngle(angle[0]), 4);
                message.writeInt32LE(utils_1.normalizeAngle(angle[1]), 8);
            }
            else {
                message = Buffer.from([0x81, this.portId, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, utils_1.mapSpeed(speed), 0x64, this._brakeStyle, 0x00]);
                message.writeInt32LE(utils_1.normalizeAngle(angle), 4);
            }
            this.send(message);
            this._finished = () => {
                return resolve();
            };
        });
    }
}
exports.AbsoluteMotor = AbsoluteMotor;
var Mode;
(function (Mode) {
    Mode[Mode["ROTATION"] = 2] = "ROTATION";
    Mode[Mode["ABSOLUTE"] = 3] = "ABSOLUTE";
})(Mode = exports.Mode || (exports.Mode = {}));
exports.ModeMap = {
    "rotate": Mode.ROTATION,
    "absolute": Mode.ABSOLUTE
};
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