movemaster-robot/dist/index.d.ts

A module to control a Mitsubishi Movemaster EX RV-M1 robotic arm via USB

import { SerialPort } from 'serialport';

type Position = {
    x: number;
    y: number;
    z: number;
    p: number;
    r: number;
};
declare enum ROBOT_ERRORS {
    HARDWARE_ERROR = 1,
    COMMAND_ERROR = 2,
    UNKNOWN_ERROR = 99
}

declare class Robot {
    port: SerialPort | null;
    position: Position | null;
    toolIsOpen: boolean;
    toolLength: number;
    speed: number;
    portIsOpen: boolean;
    connect(comPortName: string): Promise<void>;
    isConnected(): boolean;
    private checkPortOpen;
    sendCommandNoAnswer(command: string): Promise<void>;
    sendCommandWithAnswer(command: string): Promise<string>;
    checkRobotErrorCode(): Promise<{
        ok: true;
    } | {
        ok: false;
        error: ROBOT_ERRORS;
    }>;
    moveTo(position: Position, interpolatePoints?: number): Promise<void>;
    /**
     * Moves the robot arm to the given absolute x-y-z coordinates using current P and R values
     */
    moveToXYZ(x: number, y: number, z: number, interpolatePoints?: number): Promise<void>;
    getActualPosition(forceUpdateByHardware?: boolean): Promise<Position>;
    setGripper(open: boolean): Promise<void>;
    setSpeed(speed: number): Promise<void>;
    setToolLength(length: number): Promise<void>;
    withCheck<T>(result: Promise<T>): Promise<T>;
    movePath(points: Position[]): Promise<void>;
    /**
     * Moves all axes to zero position
     */
    moveToHomePosition(): Promise<void>;
    /**
     * Moves the robot to its mechanical origin position
     * Must be performed immediately after power on
     */
    nest(): Promise<void>;
    /**
     * Resets the control box
     */
    reset(): Promise<void>;
    /**
     * Defines the pressure of the robot arm gripper
     * @param startingGripForce Starting gripping force (0-15)
     * @param retainedGrippingForce Retained gripping force (0-15)
     * @param startGrippingForceRetentionTime Start gripping force retention time (0-99)
     */
    setGripPressure(startingGripForce: number, retainedGrippingForce: number, startGrippingForceRetentionTime: number): Promise<void>;
    /**
     * Rotates the axes relative to the actual position
     */
    rotateAxis(x: number, y: number, z: number, p: number, r: number): Promise<void>;
    /**
     * Moves the robot arm to the given relative position/axis values
     * @param interpolatePoints when != 0: use linear calculated path points
     */
    moveDelta(x: number, y: number, z: number, interpolatePoints?: number): Promise<void>;
    moveDelta(x: number, y: number, z: number, p: number, r: number, interpolatePoints?: number): Promise<void>;
    /**
     * Utility function to clean up R value based on X and Y coordinates
     */
    cleanUpRValue(x: number, y: number, rTarget: number): number;
    /**
     * Gets if the tool gripper is closed
     */
    getGripperClosed(): boolean;
    disconnect(): void;
    getPosition(): Position | null;
    getToolLength(): number;
    getSpeed(): number;
    listPorts(): Promise<string[]>;
}

export { Robot };