yoctolib-esm
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Yoctopuce library for TypeScript/JavaScript, as an ECMAScript 2015 module
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JavaScript
/*********************************************************************
*
* $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 { YAPI, YFunction } from './yocto_api.js';
//--- (YMotor class start)
/**
* 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.
*/
//--- (end of YMotor class start)
export class YMotor extends YFunction {
//--- (end of YMotor attributes declaration)
constructor(yapi, func) {
//--- (YMotor constructor)
super(yapi, func);
this._motorStatus = YMotor.MOTORSTATUS_INVALID;
this._drivingForce = YMotor.DRIVINGFORCE_INVALID;
this._brakingForce = YMotor.BRAKINGFORCE_INVALID;
this._cutOffVoltage = YMotor.CUTOFFVOLTAGE_INVALID;
this._overCurrentLimit = YMotor.OVERCURRENTLIMIT_INVALID;
this._frequency = YMotor.FREQUENCY_INVALID;
this._starterTime = YMotor.STARTERTIME_INVALID;
this._failSafeTimeout = YMotor.FAILSAFETIMEOUT_INVALID;
this._command = YMotor.COMMAND_INVALID;
this._valueCallbackMotor = null;
// API symbols as object properties
this.MOTORSTATUS_IDLE = 0;
this.MOTORSTATUS_BRAKE = 1;
this.MOTORSTATUS_FORWD = 2;
this.MOTORSTATUS_BACKWD = 3;
this.MOTORSTATUS_LOVOLT = 4;
this.MOTORSTATUS_HICURR = 5;
this.MOTORSTATUS_HIHEAT = 6;
this.MOTORSTATUS_FAILSF = 7;
this.MOTORSTATUS_INVALID = -1;
this.DRIVINGFORCE_INVALID = YAPI.INVALID_DOUBLE;
this.BRAKINGFORCE_INVALID = YAPI.INVALID_DOUBLE;
this.CUTOFFVOLTAGE_INVALID = YAPI.INVALID_DOUBLE;
this.OVERCURRENTLIMIT_INVALID = YAPI.INVALID_UINT;
this.FREQUENCY_INVALID = YAPI.INVALID_DOUBLE;
this.STARTERTIME_INVALID = YAPI.INVALID_UINT;
this.FAILSAFETIMEOUT_INVALID = YAPI.INVALID_UINT;
this.COMMAND_INVALID = YAPI.INVALID_STRING;
this._className = 'Motor';
//--- (end of YMotor constructor)
}
//--- (YMotor implementation)
imm_parseAttr(name, val) {
switch (name) {
case 'motorStatus':
this._motorStatus = val;
return 1;
case 'drivingForce':
this._drivingForce = Math.round(val / 65.536) / 1000.0;
return 1;
case 'brakingForce':
this._brakingForce = Math.round(val / 65.536) / 1000.0;
return 1;
case 'cutOffVoltage':
this._cutOffVoltage = Math.round(val / 65.536) / 1000.0;
return 1;
case 'overCurrentLimit':
this._overCurrentLimit = val;
return 1;
case 'frequency':
this._frequency = Math.round(val / 65.536) / 1000.0;
return 1;
case 'starterTime':
this._starterTime = val;
return 1;
case 'failSafeTimeout':
this._failSafeTimeout = val;
return 1;
case 'command':
this._command = val;
return 1;
}
return super.imm_parseAttr(name, val);
}
/**
* 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.
*/
async get_motorStatus() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YMotor.MOTORSTATUS_INVALID;
}
}
res = this._motorStatus;
return res;
}
async set_motorStatus(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('motorStatus', rest_val);
}
/**
* 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.
*/
async set_drivingForce(newval) {
let rest_val;
rest_val = String(Math.round(newval * 65536.0));
return await this._setAttr('drivingForce', rest_val);
}
/**
* 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.
*/
async get_drivingForce() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YMotor.DRIVINGFORCE_INVALID;
}
}
res = this._drivingForce;
return res;
}
/**
* 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.
*/
async set_brakingForce(newval) {
let rest_val;
rest_val = String(Math.round(newval * 65536.0));
return await this._setAttr('brakingForce', rest_val);
}
/**
* 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.
*/
async get_brakingForce() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YMotor.BRAKINGFORCE_INVALID;
}
}
res = this._brakingForce;
return res;
}
/**
* 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.
*/
async set_cutOffVoltage(newval) {
let rest_val;
rest_val = String(Math.round(newval * 65536.0));
return await this._setAttr('cutOffVoltage', rest_val);
}
/**
* 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.
*/
async get_cutOffVoltage() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YMotor.CUTOFFVOLTAGE_INVALID;
}
}
res = this._cutOffVoltage;
return res;
}
/**
* 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.
*/
async get_overCurrentLimit() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YMotor.OVERCURRENTLIMIT_INVALID;
}
}
res = this._overCurrentLimit;
return res;
}
/**
* 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.
*/
async set_overCurrentLimit(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('overCurrentLimit', rest_val);
}
/**
* 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.
*/
async set_frequency(newval) {
let rest_val;
rest_val = String(Math.round(newval * 65536.0));
return await this._setAttr('frequency', rest_val);
}
/**
* 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.
*/
async get_frequency() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YMotor.FREQUENCY_INVALID;
}
}
res = this._frequency;
return res;
}
/**
* 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.
*/
async get_starterTime() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YMotor.STARTERTIME_INVALID;
}
}
res = this._starterTime;
return res;
}
/**
* 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.
*/
async set_starterTime(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('starterTime', rest_val);
}
/**
* 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.
*/
async get_failSafeTimeout() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YMotor.FAILSAFETIMEOUT_INVALID;
}
}
res = this._failSafeTimeout;
return res;
}
/**
* 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.
*/
async set_failSafeTimeout(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('failSafeTimeout', rest_val);
}
async get_command() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YMotor.COMMAND_INVALID;
}
}
res = this._command;
return res;
}
async set_command(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('command', rest_val);
}
/**
* 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) {
let obj;
obj = YFunction._FindFromCache('Motor', func);
if (obj == null) {
obj = new YMotor(YAPI, func);
YFunction._AddToCache('Motor', func, obj);
}
return obj;
}
/**
* 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, func) {
let obj;
obj = YFunction._FindFromCacheInContext(yctx, 'Motor', func);
if (obj == null) {
obj = new YMotor(yctx, func);
YFunction._AddToCache('Motor', func, obj);
}
return obj;
}
/**
* 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
*/
async registerValueCallback(callback) {
let val;
if (callback != null) {
await YFunction._UpdateValueCallbackList(this, true);
}
else {
await YFunction._UpdateValueCallbackList(this, false);
}
this._valueCallbackMotor = callback;
// Immediately invoke value callback with current value
if (callback != null && await this.isOnline()) {
val = this._advertisedValue;
if (!(val == '')) {
await this._invokeValueCallback(val);
}
}
return 0;
}
async _invokeValueCallback(value) {
if (this._valueCallbackMotor != null) {
try {
await this._valueCallbackMotor(this, value);
}
catch (e) {
this._yapi.imm_log('Exception in valueCallback:', e);
}
}
else {
await super._invokeValueCallback(value);
}
return 0;
}
/**
* 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.
*/
async keepALive() {
return await this.set_command('K');
}
/**
* Reset the controller state to IDLE. This function must be invoked explicitly
* after any error condition is signaled.
*/
async resetStatus() {
return await this.set_motorStatus(YMotor.MOTORSTATUS_IDLE);
}
/**
* 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.
*/
async drivingForceMove(targetPower, delay) {
return await this.set_command('P' + String(Math.round(Math.round(targetPower * 10))) + ',' + String(Math.round(delay)));
}
/**
* 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.
*/
async brakingForceMove(targetPower, delay) {
return await this.set_command('B' + String(Math.round(Math.round(targetPower * 10))) + ',' + String(Math.round(delay)));
}
/**
* 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() {
let resolve = this._yapi.imm_resolveFunction(this._className, this._func);
if (resolve.errorType != YAPI.SUCCESS)
return null;
let next_hwid = this._yapi.imm_getNextHardwareId(this._className, resolve.result);
if (next_hwid == null)
return null;
return YMotor.FindMotorInContext(this._yapi, next_hwid);
}
/**
* 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() {
let next_hwid = YAPI.imm_getFirstHardwareId('Motor');
if (next_hwid == null)
return null;
return YMotor.FindMotor(next_hwid);
}
/**
* 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) {
let next_hwid = yctx.imm_getFirstHardwareId('Motor');
if (next_hwid == null)
return null;
return YMotor.FindMotorInContext(yctx, next_hwid);
}
}
// API symbols as static members
YMotor.MOTORSTATUS_IDLE = 0;
YMotor.MOTORSTATUS_BRAKE = 1;
YMotor.MOTORSTATUS_FORWD = 2;
YMotor.MOTORSTATUS_BACKWD = 3;
YMotor.MOTORSTATUS_LOVOLT = 4;
YMotor.MOTORSTATUS_HICURR = 5;
YMotor.MOTORSTATUS_HIHEAT = 6;
YMotor.MOTORSTATUS_FAILSF = 7;
YMotor.MOTORSTATUS_INVALID = -1;
YMotor.DRIVINGFORCE_INVALID = YAPI.INVALID_DOUBLE;
YMotor.BRAKINGFORCE_INVALID = YAPI.INVALID_DOUBLE;
YMotor.CUTOFFVOLTAGE_INVALID = YAPI.INVALID_DOUBLE;
YMotor.OVERCURRENTLIMIT_INVALID = YAPI.INVALID_UINT;
YMotor.FREQUENCY_INVALID = YAPI.INVALID_DOUBLE;
YMotor.STARTERTIME_INVALID = YAPI.INVALID_UINT;
YMotor.FAILSAFETIMEOUT_INVALID = YAPI.INVALID_UINT;
YMotor.COMMAND_INVALID = YAPI.INVALID_STRING;
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