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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 __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 (Object.hasOwnProperty.call(mod, k)) result[k] = mod[k];
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result["default"] = 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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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), 0x64, this._brakeStyle, 0x00]);
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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), 0x64, this._brakeStyle, 0x00]);
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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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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 3.6.3</a>
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