245 lines
16 KiB
HTML
245 lines
16 KiB
HTML
<!DOCTYPE html>
|
|
<html lang="en">
|
|
<head>
|
|
<meta charset="utf-8">
|
|
<title>JSDoc: Source: devices/tachomotor.js</title>
|
|
|
|
<script src="scripts/prettify/prettify.js"> </script>
|
|
<script src="scripts/prettify/lang-css.js"> </script>
|
|
<!--[if lt IE 9]>
|
|
<script src="//html5shiv.googlecode.com/svn/trunk/html5.js"></script>
|
|
<![endif]-->
|
|
<link type="text/css" rel="stylesheet" href="styles/prettify-tomorrow.css">
|
|
<link type="text/css" rel="stylesheet" href="styles/jsdoc-default.css">
|
|
</head>
|
|
|
|
<body>
|
|
|
|
<div id="main">
|
|
|
|
<h1 class="page-title">Source: devices/tachomotor.js</h1>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<section>
|
|
<article>
|
|
<pre class="prettyprint source linenums"><code>"use strict";
|
|
var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
|
|
if (k2 === undefined) k2 = k;
|
|
var desc = Object.getOwnPropertyDescriptor(m, k);
|
|
if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
|
|
desc = { enumerable: true, get: function() { return m[k]; } };
|
|
}
|
|
Object.defineProperty(o, k2, desc);
|
|
}) : (function(o, m, k, k2) {
|
|
if (k2 === undefined) k2 = k;
|
|
o[k2] = m[k];
|
|
}));
|
|
var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
|
|
Object.defineProperty(o, "default", { enumerable: true, value: v });
|
|
}) : function(o, v) {
|
|
o["default"] = v;
|
|
});
|
|
var __importStar = (this && this.__importStar) || function (mod) {
|
|
if (mod && mod.__esModule) return mod;
|
|
var result = {};
|
|
if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
|
|
__setModuleDefault(result, mod);
|
|
return result;
|
|
};
|
|
Object.defineProperty(exports, "__esModule", { value: true });
|
|
exports.ModeMap = exports.Mode = exports.TachoMotor = void 0;
|
|
const basicmotor_1 = require("./basicmotor");
|
|
const Consts = __importStar(require("../consts"));
|
|
const utils_1 = require("../utils");
|
|
/**
|
|
* @class TachoMotor
|
|
* @extends BasicMotor
|
|
*/
|
|
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;
|
|
this._maxPower = 100;
|
|
this.useAccelerationProfile = true;
|
|
this.useDecelerationProfile = true;
|
|
}
|
|
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
|
|
* @type {object}
|
|
* @param {number} rotation
|
|
*/
|
|
this.notify("rotate", { degrees });
|
|
break;
|
|
}
|
|
}
|
|
/**
|
|
* Set the braking style of the motor.
|
|
*
|
|
* Note: This applies to setSpeed, rotateByDegrees, and gotoAngle.
|
|
* @method TachoMotor#setBrakingStyle
|
|
* @param {number} style Either BRAKE or HOLD
|
|
*/
|
|
setBrakingStyle(style) {
|
|
this._brakeStyle = style;
|
|
}
|
|
/**
|
|
* Set the max power of the motor.
|
|
*
|
|
* Note: This applies to setSpeed, rotateByDegrees, and gotoAngle.
|
|
* @method TachoMotor#setMaxPower
|
|
* @param {number} style Either BRAKE or HOLD
|
|
*/
|
|
setMaxPower(maxPower) {
|
|
this._maxPower = maxPower;
|
|
}
|
|
/**
|
|
* Set the global acceleration time
|
|
* @method TachoMotor#setAccelerationTime
|
|
* @param {number} time How long acceleration should last (in milliseconds).
|
|
* @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
|
|
*/
|
|
setAccelerationTime(time, profile = 0x00) {
|
|
const message = Buffer.from([0x81, this.portId, 0x11, 0x05, 0x00, 0x00, profile]);
|
|
message.writeUInt16LE(time, 4);
|
|
this.send(message);
|
|
}
|
|
/**
|
|
* Set the global deceleration time
|
|
* @method TachoMotor#setDecelerationTime
|
|
* @param {number} time How long deceleration should last (in milliseconds).
|
|
* @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
|
|
*/
|
|
setDecelerationTime(time, profile = 0x00) {
|
|
const message = Buffer.from([0x81, this.portId, 0x11, 0x06, 0x00, 0x00, profile]);
|
|
message.writeUInt16LE(time, 4);
|
|
this.send(message);
|
|
}
|
|
/**
|
|
* 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.
|
|
* @param {number} time How long the motor should run for (in milliseconds).
|
|
* @returns {Promise} Resolved upon successful issuance of the 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) => {
|
|
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, (0, utils_1.mapSpeed)(speed[0]), (0, utils_1.mapSpeed)(speed[1]), this._maxPower, this._brakeStyle, this.useProfile()]);
|
|
}
|
|
else {
|
|
message = Buffer.from([0x81, this.portId, 0x11, 0x09, 0x00, 0x00, (0, utils_1.mapSpeed)(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
|
|
}
|
|
message.writeUInt16LE(time, 4);
|
|
}
|
|
else {
|
|
if (speed instanceof Array) {
|
|
message = Buffer.from([0x81, this.portId, 0x11, 0x08, (0, utils_1.mapSpeed)(speed[0]), (0, utils_1.mapSpeed)(speed[1]), this._maxPower, this.useProfile()]);
|
|
}
|
|
else {
|
|
message = Buffer.from([0x81, this.portId, 0x11, 0x07, (0, utils_1.mapSpeed)(speed), this._maxPower, this.useProfile()]);
|
|
}
|
|
}
|
|
this.send(message);
|
|
this._finishedCallbacks.push(() => {
|
|
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) => {
|
|
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, (0, utils_1.mapSpeed)(speed[0]), (0, utils_1.mapSpeed)(speed[1]), this._maxPower, this._brakeStyle, this.useProfile()]);
|
|
}
|
|
else {
|
|
message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, (0, utils_1.mapSpeed)(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
|
|
}
|
|
message.writeUInt32LE(degrees, 4);
|
|
this.send(message);
|
|
this._finishedCallbacks.push(() => {
|
|
return resolve();
|
|
});
|
|
});
|
|
}
|
|
useProfile() {
|
|
let value = 0x00;
|
|
if (this.useAccelerationProfile) {
|
|
value += 0x01;
|
|
}
|
|
if (this.useDecelerationProfile) {
|
|
value += 0x02;
|
|
}
|
|
return value;
|
|
}
|
|
}
|
|
exports.TachoMotor = TachoMotor;
|
|
var Mode;
|
|
(function (Mode) {
|
|
Mode[Mode["ROTATION"] = 2] = "ROTATION";
|
|
})(Mode || (exports.Mode = Mode = {}));
|
|
exports.ModeMap = {
|
|
"rotate": Mode.ROTATION
|
|
};
|
|
//# sourceMappingURL=tachomotor.js.map</code></pre>
|
|
</article>
|
|
</section>
|
|
|
|
|
|
|
|
|
|
</div>
|
|
|
|
<nav>
|
|
<h2><a href="index.html">Home</a></h2><h3>Classes</h3><ul><li><a href="AbsoluteMotor.html">AbsoluteMotor</a></li><li><a href="BaseHub.html">BaseHub</a></li><li><a href="BasicMotor.html">BasicMotor</a></li><li><a href="ColorDistanceSensor.html">ColorDistanceSensor</a></li><li><a href="CurrentSensor.html">CurrentSensor</a></li><li><a href="Device.html">Device</a></li><li><a href="DuploTrainBase.html">DuploTrainBase</a></li><li><a href="DuploTrainBaseColorSensor.html">DuploTrainBaseColorSensor</a></li><li><a href="DuploTrainBaseMotor.html">DuploTrainBaseMotor</a></li><li><a href="DuploTrainBaseSpeaker.html">DuploTrainBaseSpeaker</a></li><li><a href="DuploTraniBaseSpeedometer.html">DuploTraniBaseSpeedometer</a></li><li><a href="Hub.html">Hub</a></li><li><a href="HubLED.html">HubLED</a></li><li><a href="LPF2Hub.html">LPF2Hub</a></li><li><a href="Light.html">Light</a></li><li><a href="Mario.html">Mario</a></li><li><a href="MarioAccelerometer.html">MarioAccelerometer</a></li><li><a href="MarioBarcodeSensor.html">MarioBarcodeSensor</a></li><li><a href="MarioPantsSensor.html">MarioPantsSensor</a></li><li><a href="MediumLinearMotor.html">MediumLinearMotor</a></li><li><a href="MotionSensor.html">MotionSensor</a></li><li><a href="MoveHub.html">MoveHub</a></li><li><a href="MoveHubMediumLinearMotor.html">MoveHubMediumLinearMotor</a></li><li><a href="MoveHubTiltSensor.html">MoveHubTiltSensor</a></li><li><a href="PiezoBuzzer.html">PiezoBuzzer</a></li><li><a href="PoweredUP.html">PoweredUP</a></li><li><a href="RemoteControl.html">RemoteControl</a></li><li><a href="RemoteControlButton.html">RemoteControlButton</a></li><li><a href="SimpleMediumLinearMotor.html">SimpleMediumLinearMotor</a></li><li><a href="TachoMotor.html">TachoMotor</a></li><li><a href="Technic3x3ColorLightMatrix.html">Technic3x3ColorLightMatrix</a></li><li><a href="TechnicColorSensor.html">TechnicColorSensor</a></li><li><a href="TechnicDistanceSensor.html">TechnicDistanceSensor</a></li><li><a href="TechnicForceSensor.html">TechnicForceSensor</a></li><li><a href="TechnicLargeAngularMotor.html">TechnicLargeAngularMotor</a></li><li><a href="TechnicLargeLinearMotor.html">TechnicLargeLinearMotor</a></li><li><a href="TechnicMediumAngularMotor.html">TechnicMediumAngularMotor</a></li><li><a href="TechnicMediumHub.html">TechnicMediumHub</a></li><li><a href="TechnicMediumHubAccelerometerSensor.html">TechnicMediumHubAccelerometerSensor</a></li><li><a href="TechnicMediumHubGyroSensor.html">TechnicMediumHubGyroSensor</a></li><li><a href="TechnicMediumHubTiltSensor.html">TechnicMediumHubTiltSensor</a></li><li><a href="TechnicSmallAngularMotor.html">TechnicSmallAngularMotor</a></li><li><a href="TechnicXLargeLinearMotor.html">TechnicXLargeLinearMotor</a></li><li><a href="TiltSensor.html">TiltSensor</a></li><li><a href="TrainMotor.html">TrainMotor</a></li><li><a href="VoltageSensor.html">VoltageSensor</a></li><li><a href="WeDo2SmartHub.html">WeDo2SmartHub</a></li></ul><h3>Events</h3><ul><li><a href="AbsoluteMotor.html#event:absolute">absolute</a></li><li><a href="AbsoluteMotor.html#event:rotate">rotate</a></li><li><a href="ColorDistanceSensor.html#event:ambient">ambient</a></li><li><a href="ColorDistanceSensor.html#event:color">color</a></li><li><a href="ColorDistanceSensor.html#event:colorAndDistance">colorAndDistance</a></li><li><a href="ColorDistanceSensor.html#event:distance">distance</a></li><li><a href="ColorDistanceSensor.html#event:distanceCount">distanceCount</a></li><li><a href="ColorDistanceSensor.html#event:reflect">reflect</a></li><li><a href="ColorDistanceSensor.html#event:rgbIntensity">rgbIntensity</a></li><li><a href="CurrentSensor.html#event:current">current</a></li><li><a href="DuploTrainBase.html#event:button">button</a></li><li><a href="DuploTrainBaseColorSensor.html#event:color">color</a></li><li><a href="DuploTrainBaseColorSensor.html#event:intensity">intensity</a></li><li><a href="DuploTrainBaseColorSensor.html#event:reflect">reflect</a></li><li><a href="DuploTrainBaseColorSensor.html#event:rgb">rgb</a></li><li><a href="DuploTrainBaseSpeedometer.html#event:speed">speed</a></li><li><a href="Hub.html#event:attach">attach</a></li><li><a href="Hub.html#event:button">button</a></li><li><a href="Hub.html#event:detach">detach</a></li><li><a href="Hub.html#event:disconnect">disconnect</a></li><li><a href="LPF2Hub.html#event:button">button</a></li><li><a href="Mario.html#event:button">button</a></li><li><a href="MarioAccelerometer.html#event:accel">accel</a></li><li><a href="MarioAccelerometer.html#event:gest">gest</a></li><li><a href="MarioBarcodeSensor.html#event:barcode">barcode</a></li><li><a href="MarioBarcodeSensor.html#event:rgb">rgb</a></li><li><a href="MarioPantsSensor.html#event:pants">pants</a></li><li><a href="MediumLinearMotor.html#event:rotate">rotate</a></li><li><a href="MotionSensor.html#event:distance">distance</a></li><li><a href="MoveHub.html#event:button">button</a></li><li><a href="MoveHubMediumLinearMotor.html#event:rotate">rotate</a></li><li><a href="MoveHubTiltSensor.html#event:tilt">tilt</a></li><li><a href="PoweredUP.html#event:discover">discover</a></li><li><a href="RemoteControl.html#event:button">button</a></li><li><a href="RemoteControlButton.html#event:remoteButton">remoteButton</a></li><li><a href="TachoMotor.html#event:rotate">rotate</a></li><li><a href="TechnicColorSensor.html#event:ambient">ambient</a></li><li><a href="TechnicColorSensor.html#event:color">color</a></li><li><a href="TechnicColorSensor.html#event:reflect">reflect</a></li><li><a href="TechnicDistanceSensor.html#event:distance">distance</a></li><li><a href="TechnicDistanceSensor.html#event:fastDistance">fastDistance</a></li><li><a href="TechnicForceSensor.html#event:force">force</a></li><li><a href="TechnicForceSensor.html#event:tapped">tapped</a></li><li><a href="TechnicForceSensor.html#event:touch">touch</a></li><li><a href="TechnicLargeAngularMotor.html#event:absolute">absolute</a></li><li><a href="TechnicLargeAngularMotor.html#event:rotate">rotate</a></li><li><a href="TechnicLargeLinearMotor.html#event:absolute">absolute</a></li><li><a href="TechnicLargeLinearMotor.html#event:rotate">rotate</a></li><li><a href="TechnicMediumAngularMotor.html#event:absolute">absolute</a></li><li><a href="TechnicMediumAngularMotor.html#event:rotate">rotate</a></li><li><a href="TechnicMediumHub.html#event:button">button</a></li><li><a href="TechnicMediumHubAccelerometerSensor.html#event:accel">accel</a></li><li><a href="TechnicMediumHubGyroSensor.html#event:gyro">gyro</a></li><li><a href="TechnicMediumHubTiltSensor.html#event:impactCount">impactCount</a></li><li><a href="TechnicMediumHubTiltSensor.html#event:tilt">tilt</a></li><li><a href="TechnicSmallAngularMotor.html#event:absolute">absolute</a></li><li><a href="TechnicSmallAngularMotor.html#event:rotate">rotate</a></li><li><a href="TechnicXLargeLinearMotor.html#event:absolute">absolute</a></li><li><a href="TechnicXLargeLinearMotor.html#event:rotate">rotate</a></li><li><a href="TiltSensor.html#event:tilt">tilt</a></li><li><a href="VoltageSensor.html#event:voltage">voltage</a></li><li><a href="WeDo2SmartHub.html#event:button">button</a></li></ul><h3><a href="global.html">Global</a></h3>
|
|
</nav>
|
|
|
|
<br class="clear">
|
|
|
|
<footer>
|
|
Documentation generated by <a href="https://github.com/jsdoc/jsdoc">JSDoc 4.0.2</a> on Thu Apr 25 2024 17:10:11 GMT-0700 (Pacific Daylight Time)
|
|
</footer>
|
|
|
|
<script> prettyPrint(); </script>
|
|
<script src="scripts/linenumber.js"> </script>
|
|
</body>
|
|
</html>
|