sabertooth-usb/lib/examples/get.js

API for controlling USB-enabled Sabertooth motor drivers running in Packet Serial mode

"use strict";
/**
 * Prints telemetry from each connected Sabertooth device.
 */
var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, generator) {
    function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }
    return new (P || (P = Promise))(function (resolve, reject) {
        function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }
        function rejected(value) { try { step(generator["throw"](value)); } catch (e) { reject(e); } }
        function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }
        step((generator = generator.apply(thisArg, _arguments || [])).next());
    });
};
Object.defineProperty(exports, "__esModule", { value: true });
const index_1 = require("../index");
let sabertoothDevices = null;
// Get all available sabertooth devices.
(0, index_1.listSabertoothDevices)().then(devices => {
    if (devices.length === 0) {
        console.error("No Sabertooth devices found.");
    }
    else {
        console.log(`Found ${devices.length} Sabertooth devices.`);
        sabertoothDevices = devices.map(device => new index_1.SabertoothUSB(device.path, {
            // All options at default values.
            baudRate: 38400, timeout: 1000, maxGetAttemptCount: 3, address: 128, debug: true
        }));
    }
});
const printStats = () => __awaiter(void 0, void 0, void 0, function* () {
    const startTime = Date.now();
    if (sabertoothDevices !== null) {
        for (const sabertooth of sabertoothDevices) {
            console.log(`Sabertooth @ ${sabertooth.path}:`);
            // Check that the connection is open and working.
            if (sabertooth.isConnected()) {
                try {
                    console.log(`  Battery voltage: ${yield sabertooth.getBatteryVoltage()}V`);
                    for (const channel of [1, 2]) {
                        console.log(`  Motor driver channel ${channel}`);
                        console.log(`    Temp:    ${yield sabertooth.getMotorDriverOutputTemperature(channel)}°C`);
                        // Note: the current sensor is extremely noisy and can vary as much as several amps.
                        console.log(`    Current: ${yield sabertooth.getMotorCurrent(channel)}A`);
                        // Motor rates are in range [-1, 1], full-reverse to full-forward.
                        console.log(`    Rate:    ${Math.round((yield sabertooth.getMotorDriverOutputRate(channel)) * 100)}%`);
                    }
                }
                catch (e) {
                    console.error(e);
                }
            }
            else {
                console.log(`  Waiting for connection, last error: ${sabertooth === null || sabertooth === void 0 ? void 0 : sabertooth.getLastError()}`);
            }
        }
        console.log(`Got stats in ${((Date.now() - startTime) / 1000).toFixed(1)}s\n`);
    }
    else {
        console.log(`Searching for devices.`);
    }
    // Print stats at most once every second (allow for all requests to take longer than a second).
    setTimeout(printStats, 1000 - (Date.now() - startTime));
});
printStats();
//# sourceMappingURL=get.js.map