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<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="BoostMoveHub.html">BoostMoveHub</a></li><li><a href="ColorDistanceSensor.html">ColorDistanceSensor</a></li><li><a href="ControlPlusHub.html">ControlPlusHub</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="Light.html">Light</a></li><li><a href="LPF2Hub.html">LPF2Hub</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="PUPHub.html">PUPHub</a></li><li><a href="PUPRemote.html">PUPRemote</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="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="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>
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<h1 class="page-title">Source: devices/absolutemotor.js</h1>
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<section>
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<article>
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<pre
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class="sunlight-highlight-javascript linenums">"use strict";
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var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
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if (k2 === undefined) k2 = k;
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Object.defineProperty(o, k2, { enumerable: true, get: function() { return m[k]; } });
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}) : (function(o, m, k, k2) {
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if (k2 === undefined) k2 = k;
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o[k2] = m[k];
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}));
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var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
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Object.defineProperty(o, "default", { enumerable: true, value: v });
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}) : function(o, v) {
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o["default"] = v;
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});
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var __importStar = (this && this.__importStar) || function (mod) {
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if (mod && mod.__esModule) return mod;
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var result = {};
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if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
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__setModuleDefault(result, mod);
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return result;
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};
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Object.defineProperty(exports, "__esModule", { value: true });
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exports.ModeMap = exports.Mode = exports.AbsoluteMotor = void 0;
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const tachomotor_1 = require("./tachomotor");
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const Consts = __importStar(require("../consts"));
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const utils_1 = require("../utils");
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/**
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* @class AbsoluteMotor
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* @extends TachoMotor
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*/
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class AbsoluteMotor extends tachomotor_1.TachoMotor {
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constructor(hub, portId, modeMap = {}, type = Consts.DeviceType.UNKNOWN) {
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super(hub, portId, Object.assign({}, modeMap, exports.ModeMap), type);
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}
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receive(message) {
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const mode = this._mode;
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switch (mode) {
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case Mode.ABSOLUTE:
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const angle = utils_1.normalizeAngle(message.readInt16LE(this.isWeDo2SmartHub ? 2 : 4));
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/**
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* Emits when a the motors absolute position is changed.
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* @event AbsoluteMotor#absolute
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* @type {object}
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* @param {number} absolute
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*/
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this.notify("absolute", { angle });
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break;
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default:
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super.receive(message);
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break;
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}
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}
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/**
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* Rotate a motor by a given angle.
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* @method AbsoluteMotor#gotoAngle
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* @param {number} angle Absolute position the motor should go to (degrees from 0).
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* @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
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* @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
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*/
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gotoAngle(angle, speed = 100) {
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if (!this.isVirtualPort && angle instanceof Array) {
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throw new Error("Only virtual ports can accept multiple positions");
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}
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if (this.isWeDo2SmartHub) {
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throw new Error("Absolute positioning is not available on the WeDo 2.0 Smart Hub");
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}
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this.cancelEventTimer();
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return new Promise((resolve) => {
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this._busy = true;
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if (speed === undefined || speed === null) {
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speed = 100;
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}
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let message;
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if (angle instanceof Array) {
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message = Buffer.from([0x81, this.portId, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, utils_1.mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
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message.writeInt32LE(utils_1.normalizeAngle(angle[0]), 4);
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message.writeInt32LE(utils_1.normalizeAngle(angle[1]), 8);
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}
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else {
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message = Buffer.from([0x81, this.portId, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, utils_1.mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
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message.writeInt32LE(utils_1.normalizeAngle(angle), 4);
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}
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this.send(message);
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this._finished = () => {
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return resolve();
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};
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});
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}
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/**
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* Rotate motor to real zero position.
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*
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* Real zero is marked on Technic angular motors (SPIKE Prime). It is also available on Technic linear motors (Control+) but is unmarked.
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* @method AbsoluteMotor#gotoRealZero
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* @param {number} [speed=100] Speed between 1 - 100. Note that this will always take the shortest path to zero.
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* @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
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*/
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gotoRealZero(speed = 100) {
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return new Promise((resolve) => {
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const oldMode = this.mode;
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let calibrated = false;
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this.on("absolute", async ({ angle }) => {
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if (!calibrated) {
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calibrated = true;
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if (angle < 0) {
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angle = Math.abs(angle);
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}
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else {
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speed = -speed;
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}
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await this.rotateByDegrees(angle, speed);
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if (oldMode) {
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this.subscribe(oldMode);
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}
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return resolve();
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}
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});
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this.requestUpdate();
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});
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}
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/**
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* Reset zero to current position
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* @method AbsoluteMotor#resetZero
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* @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
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*/
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resetZero() {
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return new Promise((resolve) => {
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const data = Buffer.from([0x81, this.portId, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
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this.send(data);
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return resolve();
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});
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}
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}
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exports.AbsoluteMotor = AbsoluteMotor;
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var Mode;
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(function (Mode) {
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Mode[Mode["ROTATION"] = 2] = "ROTATION";
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Mode[Mode["ABSOLUTE"] = 3] = "ABSOLUTE";
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})(Mode = exports.Mode || (exports.Mode = {}));
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exports.ModeMap = {
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"rotate": Mode.ROTATION,
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"absolute": Mode.ABSOLUTE
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};
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//# sourceMappingURL=absolutemotor.js.map</pre>
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</article>
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</section>
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node-poweredup by Nathan Kellenicki licensed under the MIT license.
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Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.6.6</a>
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on Wed Dec 23rd 2020
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.html( example.html() );
|
|
|
|
}
|
|
} );
|
|
|
|
Sunlight.highlightAll( {
|
|
lineNumbers : true,
|
|
showMenu : true,
|
|
enableDoclinks : true
|
|
} );
|
|
|
|
$.catchAnchorLinks( {
|
|
navbarOffset: 10
|
|
} );
|
|
$( "#toc" ).toc( {
|
|
anchorName : function ( i, heading, prefix ) {
|
|
return $( heading ).attr( "id" ) || ( prefix + i );
|
|
},
|
|
selectors : "#toc-content h1,#toc-content h2,#toc-content h3,#toc-content h4",
|
|
showAndHide : false,
|
|
smoothScrolling: true
|
|
} );
|
|
|
|
$( "#main span[id^='toc']" ).addClass( "toc-shim" );
|
|
$( '.dropdown-toggle' ).dropdown();
|
|
|
|
$( "table" ).each( function () {
|
|
var $this = $( this );
|
|
$this.addClass('table');
|
|
} );
|
|
|
|
} );
|
|
</script>
|
|
|
|
|
|
|
|
<!--Navigation and Symbol Display-->
|
|
|
|
|
|
<!--Google Analytics-->
|
|
|
|
|
|
|
|
<script type="text/javascript">
|
|
$(document).ready(function() {
|
|
SearcherDisplay.init();
|
|
});
|
|
</script>
|
|
|
|
|
|
</body>
|
|
</html>
|