yoctolib-esm

/********************************************************************* * * $Id: svn_id $ * * Implements the high-level API for MultiAxisController 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'; /** * YMultiAxisController Class: MultiAxisController function interface * * The YMultiAxisController class allows you to drive multiple stepper motors * synchronously. */ export declare class YMultiAxisController extends YFunction { _className: string; _nAxis: number; _globalState: YMultiAxisController.GLOBALSTATE; _command: string; _valueCallbackMultiAxisController: YMultiAxisController.ValueCallback | null; readonly NAXIS_INVALID: number; readonly GLOBALSTATE_ABSENT: YMultiAxisController.GLOBALSTATE; readonly GLOBALSTATE_ALERT: YMultiAxisController.GLOBALSTATE; readonly GLOBALSTATE_HI_Z: YMultiAxisController.GLOBALSTATE; readonly GLOBALSTATE_STOP: YMultiAxisController.GLOBALSTATE; readonly GLOBALSTATE_RUN: YMultiAxisController.GLOBALSTATE; readonly GLOBALSTATE_BATCH: YMultiAxisController.GLOBALSTATE; readonly GLOBALSTATE_INVALID: YMultiAxisController.GLOBALSTATE; readonly COMMAND_INVALID: string; static readonly NAXIS_INVALID: number; static readonly GLOBALSTATE_ABSENT: YMultiAxisController.GLOBALSTATE; static readonly GLOBALSTATE_ALERT: YMultiAxisController.GLOBALSTATE; static readonly GLOBALSTATE_HI_Z: YMultiAxisController.GLOBALSTATE; static readonly GLOBALSTATE_STOP: YMultiAxisController.GLOBALSTATE; static readonly GLOBALSTATE_RUN: YMultiAxisController.GLOBALSTATE; static readonly GLOBALSTATE_BATCH: YMultiAxisController.GLOBALSTATE; static readonly GLOBALSTATE_INVALID: YMultiAxisController.GLOBALSTATE; static readonly COMMAND_INVALID: string; constructor(yapi: YAPIContext, func: string); imm_parseAttr(name: string, val: any): number; /** * Returns the number of synchronized controllers. * * @return an integer corresponding to the number of synchronized controllers * * On failure, throws an exception or returns YMultiAxisController.NAXIS_INVALID. */ get_nAxis(): Promise<number>; /** * Changes the number of synchronized controllers. * * @param newval : an integer corresponding to the number of synchronized controllers * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_nAxis(newval: number): Promise<number>; /** * Returns the stepper motor set overall state. * * @return a value among YMultiAxisController.GLOBALSTATE_ABSENT, * YMultiAxisController.GLOBALSTATE_ALERT, YMultiAxisController.GLOBALSTATE_HI_Z, * YMultiAxisController.GLOBALSTATE_STOP, YMultiAxisController.GLOBALSTATE_RUN and * YMultiAxisController.GLOBALSTATE_BATCH corresponding to the stepper motor set overall state * * On failure, throws an exception or returns YMultiAxisController.GLOBALSTATE_INVALID. */ get_globalState(): Promise<YMultiAxisController.GLOBALSTATE>; get_command(): Promise<string>; set_command(newval: string): Promise<number>; /** * Retrieves a multi-axis controller 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 multi-axis controller is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method YMultiAxisController.isOnline() to test if the multi-axis controller is * indeed online at a given time. In case of ambiguity when looking for * a multi-axis controller 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 multi-axis controller, for instance * MyDevice.multiAxisController. * * @return a YMultiAxisController object allowing you to drive the multi-axis controller. */ static FindMultiAxisController(func: string): YMultiAxisController; /** * Retrieves a multi-axis controller 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 multi-axis controller is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method YMultiAxisController.isOnline() to test if the multi-axis controller is * indeed online at a given time. In case of ambiguity when looking for * a multi-axis controller 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 multi-axis controller, for instance * MyDevice.multiAxisController. * * @return a YMultiAxisController object allowing you to drive the multi-axis controller. */ static FindMultiAxisControllerInContext(yctx: YAPIContext, func: string): YMultiAxisController; /** * 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: YMultiAxisController.ValueCallback | null): Promise<number>; _invokeValueCallback(value: string): Promise<number>; sendCommand(command: string): Promise<number>; /** * Reinitialize all controllers and clear all alert flags. * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ reset(): Promise<number>; /** * Starts all motors backward at the specified speeds, to search for the motor home position. * * @param speed : desired speed for all axis, in steps per second. * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ findHomePosition(speed: number[]): Promise<number>; /** * Starts all motors synchronously to reach a given absolute position. * The time needed to reach the requested position will depend on the lowest * acceleration and max speed parameters configured for all motors. * The final position will be reached on all axis at the same time. * * @param absPos : absolute position, measured in steps from each origin. * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ moveTo(absPos: number[]): Promise<number>; /** * Starts all motors synchronously to reach a given relative position. * The time needed to reach the requested position will depend on the lowest * acceleration and max speed parameters configured for all motors. * The final position will be reached on all axis at the same time. * * @param relPos : relative position, measured in steps from the current position. * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ moveRel(relPos: number[]): Promise<number>; /** * Keep the motor in the same state for the specified amount of time, before processing next command. * * @param waitMs : wait time, specified in milliseconds. * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ pause(waitMs: number): Promise<number>; /** * Stops the motor with an emergency alert, without taking any additional precaution. * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ emergencyStop(): Promise<number>; /** * Stops the motor smoothly as soon as possible, without waiting for ongoing move completion. * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ abortAndBrake(): Promise<number>; /** * Turn the controller into Hi-Z mode immediately, without waiting for ongoing move completion. * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ abortAndHiZ(): Promise<number>; /** * Continues the enumeration of multi-axis controllers started using yFirstMultiAxisController(). * Caution: You can't make any assumption about the returned multi-axis controllers order. * If you want to find a specific a multi-axis controller, use MultiAxisController.findMultiAxisController() * and a hardwareID or a logical name. * * @return a pointer to a YMultiAxisController object, corresponding to * a multi-axis controller currently online, or a null pointer * if there are no more multi-axis controllers to enumerate. */ nextMultiAxisController(): YMultiAxisController | null; /** * Starts the enumeration of multi-axis controllers currently accessible. * Use the method YMultiAxisController.nextMultiAxisController() to iterate on * next multi-axis controllers. * * @return a pointer to a YMultiAxisController object, corresponding to * the first multi-axis controller currently online, or a null pointer * if there are none. */ static FirstMultiAxisController(): YMultiAxisController | null; /** * Starts the enumeration of multi-axis controllers currently accessible. * Use the method YMultiAxisController.nextMultiAxisController() to iterate on * next multi-axis controllers. * * @param yctx : a YAPI context. * * @return a pointer to a YMultiAxisController object, corresponding to * the first multi-axis controller currently online, or a null pointer * if there are none. */ static FirstMultiAxisControllerInContext(yctx: YAPIContext): YMultiAxisController | null; } export declare namespace YMultiAxisController { const enum GLOBALSTATE { ABSENT = 0, ALERT = 1, HI_Z = 2, STOP = 3, RUN = 4, BATCH = 5, INVALID = -1 } interface ValueCallback { (func: YMultiAxisController, value: string): void; } }