"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 basicmotor_1 = require("./basicmotor");
const Consts = __importStar(require("../consts"));
const utils_1 = require("../utils");
class TachoMotor extends basicmotor_1.BasicMotor {
constructor(hub, portId, modeMap = {}, type = Consts.DeviceType.UNKNOWN) {
super(hub, portId, Object.assign({}, modeMap, exports.ModeMap), type);
this._brakeStyle = Consts.BrakingStyle.BRAKE;
}
receive(message) {
const mode = this._mode;
switch (mode) {
case Mode.ROTATION:
const degrees = message.readInt32LE(this.isWeDo2SmartHub ? 2 : 4);
/**
* Emits when a rotation sensor is activated.
* @event TachoMotor#rotate
* @param {number} rotation
*/
this.notify("rotate", { degrees });
break;
}
}
setBrakingStyle(style) {
this._brakeStyle = style;
}
/**
* 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.
*/
setSpeed(speed, time) {
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");
}
this.cancelEventTimer();
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, utils_1.mapSpeed(speed[0]), utils_1.mapSpeed(speed[1]), 0x64, this._brakeStyle, 0x00]);
}
else {
message = Buffer.from([0x81, this.portId, 0x11, 0x09, 0x00, 0x00, utils_1.mapSpeed(speed), 0x64, this._brakeStyle, 0x00]);
}
message.writeUInt16LE(time, 4);
}
else {
if (speed instanceof Array) {
message = Buffer.from([0x81, this.portId, 0x11, 0x08, utils_1.mapSpeed(speed[0]), utils_1.mapSpeed(speed[1]), 0x64, this._brakeStyle, 0x00]);
}
else {
message = Buffer.from([0x81, this.portId, 0x11, 0x07, utils_1.mapSpeed(speed), 0x64, 0x03, 0x64, this._brakeStyle, 0x00]);
}
}
this.send(message);
this._finished = () => {
return resolve();
};
});
}
/**
* Rotate a motor by a given amount of degrees.
* @method TachoMotor#rotateByDegrees
* @param {number} degrees How much the motor should be rotated (in degrees).
* @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).
*/
rotateByDegrees(degrees, speed) {
if (!this.isVirtualPort && speed instanceof Array) {
throw new Error("Only virtual ports can accept multiple speeds");
}
if (this.isWeDo2SmartHub) {
throw new Error("Rotation 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 (speed instanceof Array) {
message = Buffer.from([0x81, this.portId, 0x11, 0x0c, 0x00, 0x00, 0x00, 0x00, utils_1.mapSpeed(speed[0]), utils_1.mapSpeed(speed[1]), 0x64, this._brakeStyle, 0x03]);
}
else {
message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, utils_1.mapSpeed(speed), 0x64, this._brakeStyle, 0x03]);
}
message.writeUInt32LE(degrees, 4);
this.send(message);
this._finished = () => {
return resolve();
};
});
}
}
exports.TachoMotor = TachoMotor;
var Mode;
(function (Mode) {
Mode[Mode["ROTATION"] = 2] = "ROTATION";
})(Mode = exports.Mode || (exports.Mode = {}));
exports.ModeMap = {
"rotate": Mode.ROTATION
};
//# sourceMappingURL=tachomotor.js.map