yoctolib-esm

/********************************************************************* * * $Id: svn_id $ * * Implements the high-level API for Motor functions * * - - - - - - - - - License information: - - - - - - - - - * * Copyright (C) 2011 and beyond by Yoctopuce Sarl, Switzerland. * * Yoctopuce Sarl (hereafter Licensor) grants to you a perpetual * non-exclusive license to use, modify, copy and integrate this * file into your software for the sole purpose of interfacing * with Yoctopuce products. * * You may reproduce and distribute copies of this file in * source or object form, as long as the sole purpose of this * code is to interface with Yoctopuce products. You must retain * this notice in the distributed source file. * * You should refer to Yoctopuce General Terms and Conditions * for additional information regarding your rights and * obligations. * * THE SOFTWARE AND DOCUMENTATION ARE PROVIDED 'AS IS' WITHOUT * WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING * WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS * FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO * EVENT SHALL LICENSOR BE LIABLE FOR ANY INCIDENTAL, SPECIAL, * INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, * COST OF PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR * SERVICES, ANY CLAIMS BY THIRD PARTIES (INCLUDING BUT NOT * LIMITED TO ANY DEFENSE THEREOF), ANY CLAIMS FOR INDEMNITY OR * CONTRIBUTION, OR OTHER SIMILAR COSTS, WHETHER ASSERTED ON THE * BASIS OF CONTRACT, TORT (INCLUDING NEGLIGENCE), BREACH OF * WARRANTY, OR OTHERWISE. * *********************************************************************/ import { YAPIContext, YFunction } from './yocto_api.js'; /** * YMotor Class: motor control interface, available for instance in the Yocto-Motor-DC * * The YMotor class allows you to drive a DC motor. It can be used to configure the * power sent to the motor to make it turn both ways, but also to drive accelerations * and decelerations. The motor will then accelerate automatically: you will not * have to monitor it. The API also allows to slow down the motor by shortening * its terminals: the motor will then act as an electromagnetic brake. */ export declare class YMotor extends YFunction { _className: string; _motorStatus: YMotor.MOTORSTATUS; _drivingForce: number; _brakingForce: number; _cutOffVoltage: number; _overCurrentLimit: number; _frequency: number; _starterTime: number; _failSafeTimeout: number; _command: string; _valueCallbackMotor: YMotor.ValueCallback | null; readonly MOTORSTATUS_IDLE: YMotor.MOTORSTATUS; readonly MOTORSTATUS_BRAKE: YMotor.MOTORSTATUS; readonly MOTORSTATUS_FORWD: YMotor.MOTORSTATUS; readonly MOTORSTATUS_BACKWD: YMotor.MOTORSTATUS; readonly MOTORSTATUS_LOVOLT: YMotor.MOTORSTATUS; readonly MOTORSTATUS_HICURR: YMotor.MOTORSTATUS; readonly MOTORSTATUS_HIHEAT: YMotor.MOTORSTATUS; readonly MOTORSTATUS_FAILSF: YMotor.MOTORSTATUS; readonly MOTORSTATUS_INVALID: YMotor.MOTORSTATUS; readonly DRIVINGFORCE_INVALID: number; readonly BRAKINGFORCE_INVALID: number; readonly CUTOFFVOLTAGE_INVALID: number; readonly OVERCURRENTLIMIT_INVALID: number; readonly FREQUENCY_INVALID: number; readonly STARTERTIME_INVALID: number; readonly FAILSAFETIMEOUT_INVALID: number; readonly COMMAND_INVALID: string; static readonly MOTORSTATUS_IDLE: YMotor.MOTORSTATUS; static readonly MOTORSTATUS_BRAKE: YMotor.MOTORSTATUS; static readonly MOTORSTATUS_FORWD: YMotor.MOTORSTATUS; static readonly MOTORSTATUS_BACKWD: YMotor.MOTORSTATUS; static readonly MOTORSTATUS_LOVOLT: YMotor.MOTORSTATUS; static readonly MOTORSTATUS_HICURR: YMotor.MOTORSTATUS; static readonly MOTORSTATUS_HIHEAT: YMotor.MOTORSTATUS; static readonly MOTORSTATUS_FAILSF: YMotor.MOTORSTATUS; static readonly MOTORSTATUS_INVALID: YMotor.MOTORSTATUS; static readonly DRIVINGFORCE_INVALID: number; static readonly BRAKINGFORCE_INVALID: number; static readonly CUTOFFVOLTAGE_INVALID: number; static readonly OVERCURRENTLIMIT_INVALID: number; static readonly FREQUENCY_INVALID: number; static readonly STARTERTIME_INVALID: number; static readonly FAILSAFETIMEOUT_INVALID: number; static readonly COMMAND_INVALID: string; constructor(yapi: YAPIContext, func: string); imm_parseAttr(name: string, val: any): number; /** * Return the controller state. Possible states are: * IDLE when the motor is stopped/in free wheel, ready to start; * FORWD when the controller is driving the motor forward; * BACKWD when the controller is driving the motor backward; * BRAKE when the controller is braking; * LOVOLT when the controller has detected a low voltage condition; * HICURR when the controller has detected an over current condition; * HIHEAT when the controller has detected an overheat condition; * FAILSF when the controller switched on the failsafe security. * * When an error condition occurred (LOVOLT, HICURR, HIHEAT, FAILSF), the controller * status must be explicitly reset using the resetStatus function. * * @return a value among YMotor.MOTORSTATUS_IDLE, YMotor.MOTORSTATUS_BRAKE, YMotor.MOTORSTATUS_FORWD, * YMotor.MOTORSTATUS_BACKWD, YMotor.MOTORSTATUS_LOVOLT, YMotor.MOTORSTATUS_HICURR, * YMotor.MOTORSTATUS_HIHEAT and YMotor.MOTORSTATUS_FAILSF * * On failure, throws an exception or returns YMotor.MOTORSTATUS_INVALID. */ get_motorStatus(): Promise<YMotor.MOTORSTATUS>; set_motorStatus(newval: YMotor.MOTORSTATUS): Promise<number>; /** * Changes immediately the power sent to the motor. The value is a percentage between -100% * to 100%. If you want go easy on your mechanics and avoid excessive current consumption, * try to avoid brutal power changes. For example, immediate transition from forward full power * to reverse full power is a very bad idea. Each time the driving power is modified, the * braking power is set to zero. * * @param newval : a floating point number corresponding to immediately the power sent to the motor * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_drivingForce(newval: number): Promise<number>; /** * Returns the power sent to the motor, as a percentage between -100% and +100%. * * @return a floating point number corresponding to the power sent to the motor, as a percentage * between -100% and +100% * * On failure, throws an exception or returns YMotor.DRIVINGFORCE_INVALID. */ get_drivingForce(): Promise<number>; /** * Changes immediately the braking force applied to the motor (in percents). * The value 0 corresponds to no braking (free wheel). When the braking force * is changed, the driving power is set to zero. The value is a percentage. * * @param newval : a floating point number corresponding to immediately the braking force applied to * the motor (in percents) * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_brakingForce(newval: number): Promise<number>; /** * Returns the braking force applied to the motor, as a percentage. * The value 0 corresponds to no braking (free wheel). * * @return a floating point number corresponding to the braking force applied to the motor, as a percentage * * On failure, throws an exception or returns YMotor.BRAKINGFORCE_INVALID. */ get_brakingForce(): Promise<number>; /** * Changes the threshold voltage under which the controller automatically switches to error state * and prevents further current draw. This setting prevent damage to a battery that can * occur when drawing current from an "empty" battery. * Note that whatever the cutoff threshold, the controller switches to undervoltage * error state if the power supply goes under 3V, even for a very brief time. * Remember to call the saveToFlash() * method of the module if the modification must be kept. * * @param newval : a floating point number corresponding to the threshold voltage under which the * controller automatically switches to error state * and prevents further current draw * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_cutOffVoltage(newval: number): Promise<number>; /** * Returns the threshold voltage under which the controller automatically switches to error state * and prevents further current draw. This setting prevents damage to a battery that can * occur when drawing current from an "empty" battery. * * @return a floating point number corresponding to the threshold voltage under which the controller * automatically switches to error state * and prevents further current draw * * On failure, throws an exception or returns YMotor.CUTOFFVOLTAGE_INVALID. */ get_cutOffVoltage(): Promise<number>; /** * Returns the current threshold (in mA) above which the controller automatically * switches to error state. A zero value means that there is no limit. * * @return an integer corresponding to the current threshold (in mA) above which the controller automatically * switches to error state * * On failure, throws an exception or returns YMotor.OVERCURRENTLIMIT_INVALID. */ get_overCurrentLimit(): Promise<number>; /** * Changes the current threshold (in mA) above which the controller automatically * switches to error state. A zero value means that there is no limit. Note that whatever the * current limit is, the controller switches to OVERCURRENT status if the current * goes above 32A, even for a very brief time. Remember to call the saveToFlash() * method of the module if the modification must be kept. * * @param newval : an integer corresponding to the current threshold (in mA) above which the * controller automatically * switches to error state * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_overCurrentLimit(newval: number): Promise<number>; /** * Changes the PWM frequency used to control the motor. Low frequency is usually * more efficient and may help the motor to start, but an audible noise might be * generated. A higher frequency reduces the noise, but more energy is converted * into heat. Remember to call the saveToFlash() * method of the module if the modification must be kept. * * @param newval : a floating point number corresponding to the PWM frequency used to control the motor * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_frequency(newval: number): Promise<number>; /** * Returns the PWM frequency used to control the motor. * * @return a floating point number corresponding to the PWM frequency used to control the motor * * On failure, throws an exception or returns YMotor.FREQUENCY_INVALID. */ get_frequency(): Promise<number>; /** * Returns the duration (in ms) during which the motor is driven at low frequency to help * it start up. * * @return an integer corresponding to the duration (in ms) during which the motor is driven at low * frequency to help * it start up * * On failure, throws an exception or returns YMotor.STARTERTIME_INVALID. */ get_starterTime(): Promise<number>; /** * Changes the duration (in ms) during which the motor is driven at low frequency to help * it start up. Remember to call the saveToFlash() * method of the module if the modification must be kept. * * @param newval : an integer corresponding to the duration (in ms) during which the motor is driven * at low frequency to help * it start up * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_starterTime(newval: number): Promise<number>; /** * Returns the delay in milliseconds allowed for the controller to run autonomously without * receiving any instruction from the control process. When this delay has elapsed, * the controller automatically stops the motor and switches to FAILSAFE error. * Failsafe security is disabled when the value is zero. * * @return an integer corresponding to the delay in milliseconds allowed for the controller to run * autonomously without * receiving any instruction from the control process * * On failure, throws an exception or returns YMotor.FAILSAFETIMEOUT_INVALID. */ get_failSafeTimeout(): Promise<number>; /** * Changes the delay in milliseconds allowed for the controller to run autonomously without * receiving any instruction from the control process. When this delay has elapsed, * the controller automatically stops the motor and switches to FAILSAFE error. * Failsafe security is disabled when the value is zero. * Remember to call the saveToFlash() * method of the module if the modification must be kept. * * @param newval : an integer corresponding to the delay in milliseconds allowed for the controller to * run autonomously without * receiving any instruction from the control process * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_failSafeTimeout(newval: number): Promise<number>; get_command(): Promise<string>; set_command(newval: string): Promise<number>; /** * Retrieves a motor for a given identifier. * The identifier can be specified using several formats: * * - FunctionLogicalName * - ModuleSerialNumber.FunctionIdentifier * - ModuleSerialNumber.FunctionLogicalName * - ModuleLogicalName.FunctionIdentifier * - ModuleLogicalName.FunctionLogicalName * * * This function does not require that the motor is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method YMotor.isOnline() to test if the motor is * indeed online at a given time. In case of ambiguity when looking for * a motor by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * * If a call to this object's is_online() method returns FALSE although * you are certain that the matching device is plugged, make sure that you did * call registerHub() at application initialization time. * * @param func : a string that uniquely characterizes the motor, for instance * MOTORCTL.motor. * * @return a YMotor object allowing you to drive the motor. */ static FindMotor(func: string): YMotor; /** * Retrieves a motor for a given identifier in a YAPI context. * The identifier can be specified using several formats: * * - FunctionLogicalName * - ModuleSerialNumber.FunctionIdentifier * - ModuleSerialNumber.FunctionLogicalName * - ModuleLogicalName.FunctionIdentifier * - ModuleLogicalName.FunctionLogicalName * * * This function does not require that the motor is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method YMotor.isOnline() to test if the motor is * indeed online at a given time. In case of ambiguity when looking for * a motor by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * * @param yctx : a YAPI context * @param func : a string that uniquely characterizes the motor, for instance * MOTORCTL.motor. * * @return a YMotor object allowing you to drive the motor. */ static FindMotorInContext(yctx: YAPIContext, func: string): YMotor; /** * Registers the callback function that is invoked on every change of advertised value. * The callback is invoked only during the execution of ySleep or yHandleEvents. * This provides control over the time when the callback is triggered. For good responsiveness, remember to call * one of these two functions periodically. To unregister a callback, pass a null pointer as argument. * * @param callback : the callback function to call, or a null pointer. The callback function should take two * arguments: the function object of which the value has changed, and the character string describing * the new advertised value. * @noreturn */ registerValueCallback(callback: YMotor.ValueCallback | null): Promise<number>; _invokeValueCallback(value: string): Promise<number>; /** * Rearms the controller failsafe timer. When the motor is running and the failsafe feature * is active, this function should be called periodically to prove that the control process * is running properly. Otherwise, the motor is automatically stopped after the specified * timeout. Calling a motor <i>set</i> function implicitly rearms the failsafe timer. */ keepALive(): Promise<number>; /** * Reset the controller state to IDLE. This function must be invoked explicitly * after any error condition is signaled. */ resetStatus(): Promise<number>; /** * Changes progressively the power sent to the motor for a specific duration. * * @param targetPower : desired motor power, in percents (between -100% and +100%) * @param delay : duration (in ms) of the transition * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ drivingForceMove(targetPower: number, delay: number): Promise<number>; /** * Changes progressively the braking force applied to the motor for a specific duration. * * @param targetPower : desired braking force, in percents * @param delay : duration (in ms) of the transition * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ brakingForceMove(targetPower: number, delay: number): Promise<number>; /** * Continues the enumeration of motors started using yFirstMotor(). * Caution: You can't make any assumption about the returned motors order. * If you want to find a specific a motor, use Motor.findMotor() * and a hardwareID or a logical name. * * @return a pointer to a YMotor object, corresponding to * a motor currently online, or a null pointer * if there are no more motors to enumerate. */ nextMotor(): YMotor | null; /** * Starts the enumeration of motors currently accessible. * Use the method YMotor.nextMotor() to iterate on * next motors. * * @return a pointer to a YMotor object, corresponding to * the first motor currently online, or a null pointer * if there are none. */ static FirstMotor(): YMotor | null; /** * Starts the enumeration of motors currently accessible. * Use the method YMotor.nextMotor() to iterate on * next motors. * * @param yctx : a YAPI context. * * @return a pointer to a YMotor object, corresponding to * the first motor currently online, or a null pointer * if there are none. */ static FirstMotorInContext(yctx: YAPIContext): YMotor | null; } export declare namespace YMotor { const enum MOTORSTATUS { IDLE = 0, BRAKE = 1, FORWD = 2, BACKWD = 3, LOVOLT = 4, HICURR = 5, HIHEAT = 6, FAILSF = 7, INVALID = -1 } interface ValueCallback { (func: YMotor, value: string): void; } }