49 lines
1.4 KiB
TypeScript
49 lines
1.4 KiB
TypeScript
import { Device } from "./device";
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import { IDeviceInterface } from "./interfaces";
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import * as Consts from "./consts";
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import { mapSpeed } from "./utils";
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export class BasicMotor extends Device {
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constructor (hub: IDeviceInterface, portId: number, type: Consts.DeviceType = Consts.DeviceType.UNKNOWN) {
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super(hub, portId, type);
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}
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/**
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* Set the motor speed.
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* @method BasicMotor#power
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* @param {number} power For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
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* @returns {Promise} Resolved upon successful completion of command.
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*/
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public setPower (power: number) {
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return new Promise((resolve) => {
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const isWeDo2 = (this.hub.type === Consts.HubType.WEDO2_SMART_HUB);
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if (isWeDo2) {
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const data = Buffer.from([this.portId, 0x01, 0x02, mapSpeed(power)]);
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this.send(data, Consts.BLECharacteristic.WEDO2_MOTOR_VALUE_WRITE);
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} else {
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const data = Buffer.from([0x81, this.portId, 0x11, 0x51, 0x00, mapSpeed(power)]);
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this.send(data);
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}
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return resolve();
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});
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}
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/**
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* Fully (hard) stop the motor.
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* @method BasicMotor#brake
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* @returns {Promise} Resolved upon successful completion of command.
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*/
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public brake () {
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return this.setPower(127);
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}
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}
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