@wandelbots/nova-js/dist/lib/v2/JoggerConnection.d.ts

Official JS client for the Wandelbots API

import type { InitializeJoggingRequest, JoggingResponse, JointVelocityRequest, MotionGroupState, TcpVelocityRequest } from "@wandelbots/nova-api/v2";
import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket";
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;
} & Omit<InitializeJoggingRequest, "message_type">;
export declare class JoggerConnection {
    readonly nova: NovaClient;
    readonly cell: string;
    readonly motionGroupId: string;
    readonly motionGroupState: MotionGroupState;
    readonly opts: JoggerConnectionOpts;
    joggingWebsocket: AutoReconnectingWebsocket | null;
    lastVelocityRequest: JointVelocityRequest | TcpVelocityRequest | null;
    lastResponse: JoggingResponse | null;
    static open(nova: NovaClient, cell: string, motionGroupId: string, opts: JoggerConnectionOpts): Promise<JoggerConnection>;
    constructor(nova: NovaClient, cell: string, motionGroupId: string, motionGroupState: MotionGroupState, opts: JoggerConnectionOpts);
    get jointCount(): number | undefined;
    get activeWebsocket(): AutoReconnectingWebsocket | null;
    stop(): Promise<void>;
    dispose(): void;
    /**
     * Start rotation of a single robot joint at the specified velocity
     */
    startJointRotation({ joint, velocityRadsPerSec, }: {
        /** Index of the joint to rotate */
        joint: number;
        /** 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, velocityMmPerSec, useToolCoordinateSystem, }: {
        axis: "x" | "y" | "z";
        velocityMmPerSec: number;
        useToolCoordinateSystem: boolean;
    }): Promise<void>;
    /**
     * Start the TCP rotating around a specified axis at a given velocity
     */
    startTCPRotation({ axis, velocityRadsPerSec, useToolCoordinateSystem, }: {
        axis: "x" | "y" | "z";
        velocityRadsPerSec: number;
        useToolCoordinateSystem: boolean;
    }): Promise<void>;
}
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