dynamixel
Version:
Node.js library for controlling DYNAMIXEL servo motors via U2D2 interface with Protocol 2.0 support
90 lines (89 loc) • 2.64 kB
TypeScript
/**
* U2D2 USB to TTL connection handler (ES Module version)
* Manages USB communication with DYNAMIXEL devices through U2D2
*/
export class U2D2Connection extends EventEmitter<[never]> {
/**
* List available USB devices
* @returns {Array} - Array of USB devices
*/
static listUSBDevices(): any[];
/**
* Get system information
* @returns {Object} - System information
*/
static getSystemInfo(): Object;
/**
* Perform USB diagnostics
* @returns {Object} - Diagnostic results
*/
static performUSBDiagnostics(): Object;
constructor(options?: {});
device: any;
interface: any;
endpoint: any;
timeout: any;
isConnected: boolean;
receiveBuffer: Buffer<ArrayBuffer>;
/**
* Find and connect to U2D2 device
* @returns {Promise<boolean>} - Success status
*/
connect(): Promise<boolean>;
inEndpoint: any;
outEndpoint: any;
/**
* Disconnect from U2D2 device
*/
disconnect(): Promise<void>;
/**
* Start receiving data from the device
*/
startReceiving(): void;
/**
* Process received data buffer
*/
processReceiveBuffer(): void;
/**
* Send data to the device
* @param {Buffer|Array} data - Data to send
*/
send(data: Buffer | any[]): Promise<any>;
/**
* Send packet and wait for response
* @param {Buffer} packet - Packet to send
* @param {number} expectedId - Expected device ID in response
* @param {number} timeout - Timeout in milliseconds
* @returns {Promise<Buffer>} - Response packet
*/
sendAndWaitForResponse(packet: Buffer, expectedId?: number, timeout?: number): Promise<Buffer>;
/**
* Ping a device
* @param {number} id - Device ID
* @param {number} timeout - Timeout in milliseconds
* @returns {Promise<Object>} - Ping response
*/
ping(id: number, timeout?: number): Promise<Object>;
/**
* Discover devices on the bus
* @param {Object} options - Discovery options
* @returns {Promise<Array>} - Array of discovered devices
*/
discoverDevices(options?: Object): Promise<any[]>;
/**
* Set baud rate (placeholder - U2D2 handles this automatically)
* @param {number} baudRate - Baud rate
*/
setBaudRate(baudRate: number): void;
/**
* Get current baud rate
* @returns {number} - Current baud rate
*/
getBaudRate(): number;
/**
* Get connection status
* @returns {boolean} - Connection status
*/
getConnectionStatus(): boolean;
}
import { EventEmitter } from 'events';