80 lines
2.9 KiB
TypeScript
80 lines
2.9 KiB
TypeScript
import { TachoMotor } from "./tachomotor";
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import { IDeviceInterface } from "../interfaces";
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import * as Consts from "../consts";
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import { mapSpeed, normalizeAngle, roundAngleToNearest90 } from "../utils";
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export class AbsoluteMotor extends TachoMotor {
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constructor (hub: IDeviceInterface, portId: number, modeMap: {[event: string]: number} = {}, type: Consts.DeviceType = Consts.DeviceType.UNKNOWN) {
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super(hub, portId, Object.assign({}, modeMap, ModeMap), type);
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}
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public receive (message: Buffer) {
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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 = 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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* @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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public gotoAngle (angle: [number, number] | number, speed: number = 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, mapSpeed(speed), 0x64, this._brakeStyle, 0x00]);
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message.writeInt32LE(normalizeAngle(angle[0]), 4);
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message.writeInt32LE(normalizeAngle(angle[1]), 8);
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} else {
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message = Buffer.from([0x81, this.portId, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, this._brakeStyle, 0x00]);
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message.writeInt32LE(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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export enum Mode {
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ROTATION = 0x02,
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ABSOLUTE = 0x03
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}
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export const ModeMap: {[event: string]: number} = {
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"rotate": Mode.ROTATION,
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"absolute": Mode.ABSOLUTE
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};
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