@wandelbots/nova-js/dist/lib/v1/JoggerConnection.d.ts

Official JS client for the Wandelbots API

import type { Joints, TcpPose } from "@wandelbots/nova-api/v1";
import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket";
import type { MotionStreamConnection } from "./MotionStreamConnection";
import type { NovaClient } from "./NovaClient";
export type JoggerConnectionOpts = {
    /**
     * When an error message is received from the jogging websocket, it
     * will be passed here. If this handler is not provided, the error will
     * instead be thrown as an unhandled error.
     */
    onError?: (err: unknown) => void;
};
export declare class JoggerConnection {
    readonly motionStream: MotionStreamConnection;
    readonly opts: JoggerConnectionOpts;
    cartesianWebsocket: AutoReconnectingWebsocket | null;
    jointWebsocket: AutoReconnectingWebsocket | null;
    cartesianJoggingOpts: {
        tcpId?: string;
        coordSystemId?: string;
    };
    static open(nova: NovaClient, motionGroupId: string, opts?: JoggerConnectionOpts): Promise<JoggerConnection>;
    constructor(motionStream: MotionStreamConnection, opts?: JoggerConnectionOpts);
    get motionGroupId(): string;
    get nova(): NovaClient;
    get numJoints(): number;
    get activeJoggingMode(): "cartesian" | "joint" | "increment";
    get activeWebsocket(): AutoReconnectingWebsocket | null;
    stop(): Promise<void>;
    dispose(): void;
    setJoggingMode(mode: "cartesian" | "joint" | "increment", cartesianJoggingOpts?: {
        tcpId?: string;
        coordSystemId?: string;
    }): void;
    /**
     * Start rotation of a single robot joint at the specified velocity
     */
    startJointRotation({ joint, direction, velocityRadsPerSec, }: {
        /** Index of the joint to rotate */
        joint: number;
        /** Direction of rotation ("+" or "-") */
        direction: "+" | "-";
        /** Speed of the rotation in radians per second */
        velocityRadsPerSec: number;
    }): Promise<void>;
    /**
     * Start the TCP moving along a specified axis at a given velocity
     */
    startTCPTranslation({ axis, direction, velocityMmPerSec, }: {
        axis: "x" | "y" | "z";
        direction: "-" | "+";
        velocityMmPerSec: number;
    }): Promise<void>;
    /**
     * Start the TCP rotating around a specified axis at a given velocity
     */
    startTCPRotation({ axis, direction, velocityRadsPerSec, }: {
        axis: "x" | "y" | "z";
        direction: "-" | "+";
        velocityRadsPerSec: number;
    }): Promise<void>;
    /**
     * Move the robot by a fixed distance in a single cartesian
     * axis, either rotating or translating relative to the TCP.
     * Promise resolves only after the motion has completed.
     */
    runIncrementalCartesianMotion({ currentTcpPose, currentJoints, coordSystemId, velocityInRelevantUnits, axis, direction, motion, }: {
        currentTcpPose: TcpPose;
        currentJoints: Joints;
        coordSystemId: string;
        velocityInRelevantUnits: number;
        axis: "x" | "y" | "z";
        direction: "-" | "+";
        motion: {
            type: "rotate";
            distanceRads: number;
        } | {
            type: "translate";
            distanceMm: number;
        };
    }): Promise<void>;
    /**
     * Rotate a single robot joint by a fixed number of radians
     * Promise resolves only after the motion has completed.
     */
    runIncrementalJointRotation({ joint, currentJoints, velocityRadsPerSec, direction, distanceRads, }: {
        joint: number;
        currentJoints: Joints;
        velocityRadsPerSec: number;
        direction: "-" | "+";
        distanceRads: number;
    }): Promise<void>;
}
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