movemaster-robot/dist/index.mjs.map

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

{"version":3,"sources":["../src/Robot.ts","../src/utils.ts","../src/defaults.ts"],"sourcesContent":["import { SerialPort } from \"serialport\";\nimport { type Position, ROBOT_ERRORS } from \"./types\";\nimport { delay, fmt } from \"./utils\";\nimport { portDefaults } from \"./defaults\";\n\nclass Robot {\n  port: SerialPort | null = null;\n  position: Position | null = null;\n  toolIsOpen = false;\n  toolLength = -1; // Default tool length\n  speed = -1;\n  portIsOpen = false;\n\n  async connect(comPortName: string): Promise<void> {\n    return new Promise((resolve, _error) => {\n      this.port = new SerialPort({\n        path: comPortName.trim(),\n        ...portDefaults,\n      });\n\n      this.port.on(\"open\", () => {\n        console.log(`Connected to port: ${comPortName}`);\n        resolve();\n      });\n      this.port.on(\"data\", (data) => {\n        console.log(\"Data received:\", data.toString());\n      });\n      this.port.on(\"error\", (err) => {\n        console.error(\"Error on port:\", err);\n      });\n    });\n  }\n\n  isConnected(): boolean {\n    return !!this.port?.isOpen;\n  }\n\n  private checkPortOpen(): asserts this is this & { port: SerialPort } {\n    if (!this.port || !this.port.isOpen) {\n      throw new Error(\"Port is not open\");\n    }\n  }\n\n  async sendCommandNoAnswer(command: string): Promise<void> {\n    this.checkPortOpen();\n\n    console.log(`Sending command: ${command}`);\n    this.port.write(command + \"\\r\\n\");\n    await delay(100);\n  }\n\n  sendCommandWithAnswer(command: string): Promise<string> {\n    return new Promise((resolve, reject) => {\n      this.checkPortOpen();\n\n      console.log(`Sending command with answer: ${command}`);\n\n      let stringBuffer = \"\";\n      this.port.write(command + \"\\r\\n\", (err) => {\n        if (err) {\n          console.error(\"Error writing to port:\", err);\n          return reject(err);\n        }\n      });\n\n      this.port.on(\"data\", (data) => {\n        stringBuffer += data.toString();\n        if (stringBuffer.endsWith(\"\\r\\n\")) {\n          const response = stringBuffer.trim();\n          console.log(\"Response received:\", response);\n          resolve(response);\n          stringBuffer = \"\"; // Reset buffer after processing\n        }\n      });\n    });\n  }\n\n  async checkRobotErrorCode(): Promise<\n    { ok: true } | { ok: false; error: ROBOT_ERRORS }\n  > {\n    this.checkPortOpen();\n    const res = await this.sendCommandWithAnswer(\"ER\");\n    console.log(\"Error code response:\", res);\n    const errorCode = parseInt(res, 10);\n\n    if (Number.isNaN(errorCode)) {\n      console.error(\"Invalid error code received:\", res);\n      return { ok: false, error: ROBOT_ERRORS.UNKNOWN_ERROR };\n    }\n\n    switch (errorCode) {\n      case 0:\n        console.log(\"No error detected.\");\n        return { ok: true };\n      case 1:\n        console.error(\"Hardware error: 1\");\n        return { ok: false, error: ROBOT_ERRORS.HARDWARE_ERROR };\n      case 2:\n        console.error(\"Position or format error: 2\");\n        return { ok: false, error: ROBOT_ERRORS.COMMAND_ERROR };\n    }\n    return { ok: false, error: ROBOT_ERRORS.UNKNOWN_ERROR };\n  }\n\n  async moveTo(position: Position, interpolatePoints = 0): Promise<void> {\n    this.checkPortOpen();\n\n    const { x, y, z, p, r } = position;\n\n    if (interpolatePoints === 0) {\n      await this.sendCommandNoAnswer(\n        `MP ${fmt(x)}, ${fmt(y)}, ${fmt(z)}, ${fmt(p)}, ${fmt(r)}`\n      );\n    } else {\n      await this.sendCommandNoAnswer(\"PC 1\");\n      await this.sendCommandNoAnswer(\n        `PD 1, ${fmt(x)}, ${fmt(y)}, ${fmt(z)}, ${fmt(p)}, ${fmt(r)}`\n      );\n      await this.sendCommandNoAnswer(\n        `MS 1, ${interpolatePoints}, ${this.toolIsOpen ? \"C\" : \"O\"}`\n      );\n    }\n\n    // Update cached position\n    this.position = { x, y, z, p, r };\n  }\n\n  /**\n   * Moves the robot arm to the given absolute x-y-z coordinates using current P and R values\n   */\n  async moveToXYZ(\n    x: number,\n    y: number,\n    z: number,\n    interpolatePoints = 0\n  ): Promise<void> {\n    if (!this.position) {\n      throw new Error(\"Actual position not set\");\n    }\n\n    return this.moveTo(\n      {\n        x,\n        y,\n        z,\n        p: this.position.p,\n        r: this.position.r,\n      },\n      interpolatePoints\n    );\n  }\n\n  async getActualPosition(\n    forceUpdateByHardware: boolean = true\n  ): Promise<Position> {\n    if (!forceUpdateByHardware && this.position) {\n      // Return cached position (cloned to prevent mutation)\n      return { ...this.position };\n    }\n\n    // Update from hardware\n    const response = await this.sendCommandWithAnswer(\"WH\");\n\n    const parts = response.split(\",\").map((part) => {\n      let cleaned = part.trim().replace(\"+\", \"\");\n\n      if (cleaned.startsWith(\".\")) {\n        cleaned = `0${cleaned}`;\n      }\n      return parseFloat(cleaned);\n    });\n    if (parts.length < 5) {\n      throw new Error(\"Invalid position response format\");\n    }\n\n    const position = {\n      x: parts[0],\n      y: parts[1],\n      z: parts[2],\n      p: parts[3],\n      r: parts[4],\n    };\n    this.position = position;\n\n    return { ...position }; // Return cloned position\n  }\n\n  async setGripper(open: boolean): Promise<void> {\n    this.checkPortOpen();\n\n    if (open) {\n      await this.sendCommandNoAnswer(\"GO\");\n    } else {\n      await this.sendCommandNoAnswer(\"GC\");\n    }\n\n    this.toolIsOpen = open;\n  }\n  async setSpeed(speed: number): Promise<void> {\n    this.checkPortOpen();\n\n    const roundedSpeed = Math.floor(speed);\n    if (roundedSpeed < 0 || roundedSpeed > 9) {\n      return Promise.reject(new Error(\"Speed must be between 0 and 9\"));\n    }\n    this.speed = roundedSpeed;\n    await this.sendCommandNoAnswer(`SP ${roundedSpeed}`);\n  }\n\n  async setToolLength(length: number): Promise<void> {\n    this.checkPortOpen();\n    this.toolLength = length;\n    await this.sendCommandNoAnswer(`TL ${Math.floor(length)}`);\n  }\n\n  async withCheck<T>(result: Promise<T>): Promise<T> {\n    const cbResult = await result;\n    const errResult = await this.checkRobotErrorCode();\n    if (errResult.ok) {\n      return cbResult;\n    } else {\n      throw new Error(`Command errored: ${errResult.error}`);\n    }\n  }\n\n  async movePath(points: Position[]): Promise<void> {\n    const positionOffset = 1;\n    this.checkPortOpen();\n\n    for (let i = 0; i < points.length; i++) {\n      const point = points[i];\n      await this.sendCommandNoAnswer(\n        `PD ${i + positionOffset}, ${fmt(point.x)}, ${fmt(point.y)}, ${fmt(\n          point.z\n        )}, ${fmt(point.p)}, ${fmt(point.r)}`\n      );\n      await delay(100); // Delay between commands\n    }\n\n    await this.sendCommandNoAnswer(\n      `MC ${positionOffset}, ${points.length - 1 + positionOffset}`\n    );\n  }\n\n  /**\n   * Moves all axes to zero position\n   */\n  async moveToHomePosition(): Promise<void> {\n    this.checkPortOpen();\n    await this.sendCommandNoAnswer(\"OG\");\n  }\n\n  /**\n   * Moves the robot to its mechanical origin position\n   * Must be performed immediately after power on\n   */\n  async nest(): Promise<void> {\n    this.checkPortOpen();\n    await this.sendCommandNoAnswer(\"NT\");\n  }\n\n  /**\n   * Resets the control box\n   */\n  async reset(): Promise<void> {\n    this.checkPortOpen();\n    await this.sendCommandNoAnswer(\"RS\");\n  }\n\n  /**\n   * Defines the pressure of the robot arm gripper\n   * @param startingGripForce Starting gripping force (0-15)\n   * @param retainedGrippingForce Retained gripping force (0-15)\n   * @param startGrippingForceRetentionTime Start gripping force retention time (0-99)\n   */\n  async setGripPressure(\n    startingGripForce: number,\n    retainedGrippingForce: number,\n    startGrippingForceRetentionTime: number\n  ): Promise<void> {\n    this.checkPortOpen();\n\n    if (startingGripForce < 0 || startingGripForce > 15) {\n      throw new Error(\"Starting grip force must be between 0 and 15\");\n    }\n    if (retainedGrippingForce < 0 || retainedGrippingForce > 15) {\n      throw new Error(\"Retained gripping force must be between 0 and 15\");\n    }\n    if (\n      startGrippingForceRetentionTime < 0 ||\n      startGrippingForceRetentionTime > 99\n    ) {\n      throw new Error(\n        \"Start gripping force retention time must be between 0 and 99\"\n      );\n    }\n\n    await this.sendCommandNoAnswer(\n      `GP ${startingGripForce}, ${retainedGrippingForce}, ${startGrippingForceRetentionTime}`\n    );\n  }\n\n  /**\n   * Rotates the axes relative to the actual position\n   */\n  async rotateAxis(\n    x: number,\n    y: number,\n    z: number,\n    p: number,\n    r: number\n  ): Promise<void> {\n    this.checkPortOpen();\n\n    await this.sendCommandNoAnswer(\n      `MJ ${fmt(x)}, ${fmt(y)}, ${fmt(z)}, ${fmt(p)}, ${fmt(r)}`\n    );\n\n    // Update position from hardware after rotation\n    await this.getActualPosition(true);\n  }\n\n  /**\n   * Moves the robot arm to the given relative position/axis values\n   * @param interpolatePoints when != 0: use linear calculated path points\n   */\n  async moveDelta(\n    x: number,\n    y: number,\n    z: number,\n    interpolatePoints?: number\n  ): Promise<void>;\n  async moveDelta(\n    x: number,\n    y: number,\n    z: number,\n    p: number,\n    r: number,\n    interpolatePoints?: number\n  ): Promise<void>;\n  async moveDelta(\n    x: number,\n    y: number,\n    z: number,\n    pOrInterpolatePoints?: number,\n    r?: number,\n    interpolatePoints?: number\n  ): Promise<void> {\n    if (!this.position) {\n      throw new Error(\"Actual position not set\");\n    }\n\n    // Handle overloads\n    let p: number, actualInterpolatePoints: number;\n    if (r === undefined && interpolatePoints === undefined) {\n      // 3-parameter version: moveDelta(x, y, z, interpolatePoints?)\n      p = this.position.p;\n      r = this.position.r;\n      actualInterpolatePoints = pOrInterpolatePoints ?? 0;\n    } else {\n      // 5-parameter version: moveDelta(x, y, z, p, r, interpolatePoints?)\n      p = pOrInterpolatePoints ?? this.position.p;\n      r = r ?? this.position.r;\n      actualInterpolatePoints = interpolatePoints ?? 0;\n    }\n\n    return this.moveTo(\n      {\n        x: this.position.x + x,\n        y: this.position.y + y,\n        z: this.position.z + z,\n        p: this.position.p + p,\n        r: this.position.r + r,\n      },\n      actualInterpolatePoints\n    );\n  }\n\n  /**\n   * Utility function to clean up R value based on X and Y coordinates\n   */\n  cleanUpRValue(x: number, y: number, rTarget: number): number {\n    return rTarget + (Math.atan2(x, y) * 180) / Math.PI;\n  }\n\n  /**\n   * Gets if the tool gripper is closed\n   */\n  getGripperClosed(): boolean {\n    return !this.toolIsOpen;\n  }\n\n  disconnect(): void {\n    if (this.port) {\n      this.port.close((err) => {\n        if (err) {\n          console.error(\"Error closing port:\", err);\n        } else {\n          console.log(\"Port closed successfully.\");\n        }\n      });\n      this.port = null;\n    } else {\n      console.log(\"No port to close.\");\n    }\n  }\n\n  getPosition() {\n    return this.position;\n  }\n\n  getToolLength() {\n    return this.toolLength;\n  }\n  getSpeed() {\n    return this.speed;\n  }\n\n  async listPorts(): Promise<string[]> {\n    const ports = await SerialPort.list();\n    return ports.map((port) => port.path);\n  }\n}\n\nexport default Robot;\n","export const fmt = (value: number): string => {\n  return value.toFixed(1);\n};\n\nexport const delay = (ms: number): Promise<void> => {\n  return new Promise((resolve) => setTimeout(resolve, ms));\n};\n","export const portDefaults = {\n  baudRate: 9600,\n  dataBits: 7,\n  stopBits: 2,\n  parity: 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