yoctolib-esm

/********************************************************************* * * $Id: svn_id $ * * Implements the high-level API for StepperMotor 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'; /** * YStepperMotor Class: stepper motor control interface * * The YStepperMotor class allows you to drive a stepper motor. */ export declare class YStepperMotor extends YFunction { _className: string; _motorState: YStepperMotor.MOTORSTATE; _diags: number; _stepPos: number; _speed: number; _pullinSpeed: number; _maxAccel: number; _maxSpeed: number; _stepping: YStepperMotor.STEPPING; _overcurrent: number; _tCurrStop: number; _tCurrRun: number; _alertMode: string; _auxMode: string; _auxSignal: number; _command: string; _valueCallbackStepperMotor: YStepperMotor.ValueCallback | null; readonly MOTORSTATE_ABSENT: YStepperMotor.MOTORSTATE; readonly MOTORSTATE_ALERT: YStepperMotor.MOTORSTATE; readonly MOTORSTATE_HI_Z: YStepperMotor.MOTORSTATE; readonly MOTORSTATE_STOP: YStepperMotor.MOTORSTATE; readonly MOTORSTATE_RUN: YStepperMotor.MOTORSTATE; readonly MOTORSTATE_BATCH: YStepperMotor.MOTORSTATE; readonly MOTORSTATE_INVALID: YStepperMotor.MOTORSTATE; readonly DIAGS_INVALID: number; readonly STEPPOS_INVALID: number; readonly SPEED_INVALID: number; readonly PULLINSPEED_INVALID: number; readonly MAXACCEL_INVALID: number; readonly MAXSPEED_INVALID: number; readonly STEPPING_MICROSTEP16: YStepperMotor.STEPPING; readonly STEPPING_MICROSTEP8: YStepperMotor.STEPPING; readonly STEPPING_MICROSTEP4: YStepperMotor.STEPPING; readonly STEPPING_HALFSTEP: YStepperMotor.STEPPING; readonly STEPPING_FULLSTEP: YStepperMotor.STEPPING; readonly STEPPING_INVALID: YStepperMotor.STEPPING; readonly OVERCURRENT_INVALID: number; readonly TCURRSTOP_INVALID: number; readonly TCURRRUN_INVALID: number; readonly ALERTMODE_INVALID: string; readonly AUXMODE_INVALID: string; readonly AUXSIGNAL_INVALID: number; readonly COMMAND_INVALID: string; static readonly MOTORSTATE_ABSENT: YStepperMotor.MOTORSTATE; static readonly MOTORSTATE_ALERT: YStepperMotor.MOTORSTATE; static readonly MOTORSTATE_HI_Z: YStepperMotor.MOTORSTATE; static readonly MOTORSTATE_STOP: YStepperMotor.MOTORSTATE; static readonly MOTORSTATE_RUN: YStepperMotor.MOTORSTATE; static readonly MOTORSTATE_BATCH: YStepperMotor.MOTORSTATE; static readonly MOTORSTATE_INVALID: YStepperMotor.MOTORSTATE; static readonly DIAGS_INVALID: number; static readonly STEPPOS_INVALID: number; static readonly SPEED_INVALID: number; static readonly PULLINSPEED_INVALID: number; static readonly MAXACCEL_INVALID: number; static readonly MAXSPEED_INVALID: number; static readonly STEPPING_MICROSTEP16: YStepperMotor.STEPPING; static readonly STEPPING_MICROSTEP8: YStepperMotor.STEPPING; static readonly STEPPING_MICROSTEP4: YStepperMotor.STEPPING; static readonly STEPPING_HALFSTEP: YStepperMotor.STEPPING; static readonly STEPPING_FULLSTEP: YStepperMotor.STEPPING; static readonly STEPPING_INVALID: YStepperMotor.STEPPING; static readonly OVERCURRENT_INVALID: number; static readonly TCURRSTOP_INVALID: number; static readonly TCURRRUN_INVALID: number; static readonly ALERTMODE_INVALID: string; static readonly AUXMODE_INVALID: string; static readonly AUXSIGNAL_INVALID: number; static readonly COMMAND_INVALID: string; constructor(yapi: YAPIContext, func: string); imm_parseAttr(name: string, val: any): number; /** * Returns the motor working state. * * @return a value among YStepperMotor.MOTORSTATE_ABSENT, YStepperMotor.MOTORSTATE_ALERT, * YStepperMotor.MOTORSTATE_HI_Z, YStepperMotor.MOTORSTATE_STOP, YStepperMotor.MOTORSTATE_RUN and * YStepperMotor.MOTORSTATE_BATCH corresponding to the motor working state * * On failure, throws an exception or returns YStepperMotor.MOTORSTATE_INVALID. */ get_motorState(): Promise<YStepperMotor.MOTORSTATE>; /** * Returns the stepper motor controller diagnostics, as a bitmap. * * @return an integer corresponding to the stepper motor controller diagnostics, as a bitmap * * On failure, throws an exception or returns YStepperMotor.DIAGS_INVALID. */ get_diags(): Promise<number>; /** * Changes the current logical motor position, measured in steps. * This command does not cause any motor move, as its purpose is only to set up * the origin of the position counter. The fractional part of the position, * that corresponds to the physical position of the rotor, is not changed. * To trigger a motor move, use methods moveTo() or moveRel() * instead. * * @param newval : a floating point number corresponding to the current logical motor position, measured in steps * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_stepPos(newval: number): Promise<number>; /** * Returns the current logical motor position, measured in steps. * The value may include a fractional part when micro-stepping is in use. * * @return a floating point number corresponding to the current logical motor position, measured in steps * * On failure, throws an exception or returns YStepperMotor.STEPPOS_INVALID. */ get_stepPos(): Promise<number>; /** * Returns current motor speed, measured in steps per second. * To change speed, use method changeSpeed(). * * @return a floating point number corresponding to current motor speed, measured in steps per second * * On failure, throws an exception or returns YStepperMotor.SPEED_INVALID. */ get_speed(): Promise<number>; /** * Changes the motor speed immediately reachable from stop state, measured in steps per second. * * @param newval : a floating point number corresponding to the motor speed immediately reachable from * stop state, measured in steps per second * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_pullinSpeed(newval: number): Promise<number>; /** * Returns the motor speed immediately reachable from stop state, measured in steps per second. * * @return a floating point number corresponding to the motor speed immediately reachable from stop * state, measured in steps per second * * On failure, throws an exception or returns YStepperMotor.PULLINSPEED_INVALID. */ get_pullinSpeed(): Promise<number>; /** * Changes the maximal motor acceleration, measured in steps per second^2. * * @param newval : a floating point number corresponding to the maximal motor acceleration, measured * in steps per second^2 * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_maxAccel(newval: number): Promise<number>; /** * Returns the maximal motor acceleration, measured in steps per second^2. * * @return a floating point number corresponding to the maximal motor acceleration, measured in steps per second^2 * * On failure, throws an exception or returns YStepperMotor.MAXACCEL_INVALID. */ get_maxAccel(): Promise<number>; /** * Changes the maximal motor speed, measured in steps per second. * * @param newval : a floating point number corresponding to the maximal motor speed, measured in steps per second * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_maxSpeed(newval: number): Promise<number>; /** * Returns the maximal motor speed, measured in steps per second. * * @return a floating point number corresponding to the maximal motor speed, measured in steps per second * * On failure, throws an exception or returns YStepperMotor.MAXSPEED_INVALID. */ get_maxSpeed(): Promise<number>; /** * Returns the stepping mode used to drive the motor. * * @return a value among YStepperMotor.STEPPING_MICROSTEP16, YStepperMotor.STEPPING_MICROSTEP8, * YStepperMotor.STEPPING_MICROSTEP4, YStepperMotor.STEPPING_HALFSTEP and * YStepperMotor.STEPPING_FULLSTEP corresponding to the stepping mode used to drive the motor * * On failure, throws an exception or returns YStepperMotor.STEPPING_INVALID. */ get_stepping(): Promise<YStepperMotor.STEPPING>; /** * Changes the stepping mode used to drive the motor. * * @param newval : a value among YStepperMotor.STEPPING_MICROSTEP16, * YStepperMotor.STEPPING_MICROSTEP8, YStepperMotor.STEPPING_MICROSTEP4, * YStepperMotor.STEPPING_HALFSTEP and YStepperMotor.STEPPING_FULLSTEP corresponding to the stepping * mode used to drive the motor * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_stepping(newval: YStepperMotor.STEPPING): Promise<number>; /** * Returns the overcurrent alert and emergency stop threshold, measured in mA. * * @return an integer corresponding to the overcurrent alert and emergency stop threshold, measured in mA * * On failure, throws an exception or returns YStepperMotor.OVERCURRENT_INVALID. */ get_overcurrent(): Promise<number>; /** * Changes the overcurrent alert and emergency stop threshold, measured in mA. * * @param newval : an integer corresponding to the overcurrent alert and emergency stop threshold, measured in mA * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_overcurrent(newval: number): Promise<number>; /** * Returns the torque regulation current when the motor is stopped, measured in mA. * * @return an integer corresponding to the torque regulation current when the motor is stopped, measured in mA * * On failure, throws an exception or returns YStepperMotor.TCURRSTOP_INVALID. */ get_tCurrStop(): Promise<number>; /** * Changes the torque regulation current when the motor is stopped, measured in mA. * * @param newval : an integer corresponding to the torque regulation current when the motor is * stopped, measured in mA * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_tCurrStop(newval: number): Promise<number>; /** * Returns the torque regulation current when the motor is running, measured in mA. * * @return an integer corresponding to the torque regulation current when the motor is running, measured in mA * * On failure, throws an exception or returns YStepperMotor.TCURRRUN_INVALID. */ get_tCurrRun(): Promise<number>; /** * Changes the torque regulation current when the motor is running, measured in mA. * * @param newval : an integer corresponding to the torque regulation current when the motor is * running, measured in mA * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_tCurrRun(newval: number): Promise<number>; get_alertMode(): Promise<string>; set_alertMode(newval: string): Promise<number>; get_auxMode(): Promise<string>; set_auxMode(newval: string): Promise<number>; /** * Returns the current value of the signal generated on the auxiliary output. * * @return an integer corresponding to the current value of the signal generated on the auxiliary output * * On failure, throws an exception or returns YStepperMotor.AUXSIGNAL_INVALID. */ get_auxSignal(): Promise<number>; /** * Changes the value of the signal generated on the auxiliary output. * Acceptable values depend on the auxiliary output signal type configured. * * @param newval : an integer corresponding to the value of the signal generated on the auxiliary output * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_auxSignal(newval: number): Promise<number>; get_command(): Promise<string>; set_command(newval: string): Promise<number>; /** * Retrieves a stepper 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 stepper motor is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method YStepperMotor.isOnline() to test if the stepper motor is * indeed online at a given time. In case of ambiguity when looking for * a stepper 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 stepper motor, for instance * MyDevice.stepperMotor1. * * @return a YStepperMotor object allowing you to drive the stepper motor. */ static FindStepperMotor(func: string): YStepperMotor; /** * Retrieves a stepper 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 stepper motor is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method YStepperMotor.isOnline() to test if the stepper motor is * indeed online at a given time. In case of ambiguity when looking for * a stepper 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 stepper motor, for instance * MyDevice.stepperMotor1. * * @return a YStepperMotor object allowing you to drive the stepper motor. */ static FindStepperMotorInContext(yctx: YAPIContext, func: string): YStepperMotor; /** * 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: YStepperMotor.ValueCallback | null): Promise<number>; _invokeValueCallback(value: string): Promise<number>; sendCommand(command: string): Promise<number>; /** * Reinitialize the controller 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 the motor backward at the specified speed, to search for the motor home position. * * @param speed : desired speed, 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 the motor at a given speed. The time needed to reach the requested speed * will depend on the acceleration parameters configured for the motor. * * @param speed : desired speed, in steps per second. The minimal non-zero speed * is 0.001 pulse per second. * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ changeSpeed(speed: number): Promise<number>; /** * Starts the motor to reach a given absolute position. The time needed to reach the requested * position will depend on the acceleration and max speed parameters configured for * the motor. * * @param absPos : absolute position, measured in steps from the 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 the motor to reach a given relative position. The time needed to reach the requested * position will depend on the acceleration and max speed parameters configured for * the motor. * * @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>; /** * Starts the motor to reach a given relative position, keeping the speed under the * specified limit. The time needed to reach the requested position will depend on * the acceleration parameters configured for the motor. * * @param relPos : relative position, measured in steps from the current position. * @param maxSpeed : limit speed, in steps per second. * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ moveRelSlow(relPos: number, maxSpeed: 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>; /** * Move one step in the direction opposite the direction set when the most recent alert was raised. * The move occurs even if the system is still in alert mode (end switch depressed). Caution. * use this function with great care as it may cause mechanical damages ! * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ alertStepOut(): Promise<number>; /** * Move one single step in the selected direction without regards to end switches. * The move occurs even if the system is still in alert mode (end switch depressed). Caution. * use this function with great care as it may cause mechanical damages ! * * @param dir : Value +1 or -1, according to the desired direction of the move * * @return YAPI.SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ alertStepDir(dir: number): 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 stepper motors started using yFirstStepperMotor(). * Caution: You can't make any assumption about the returned stepper motors order. * If you want to find a specific a stepper motor, use StepperMotor.findStepperMotor() * and a hardwareID or a logical name. * * @return a pointer to a YStepperMotor object, corresponding to * a stepper motor currently online, or a null pointer * if there are no more stepper motors to enumerate. */ nextStepperMotor(): YStepperMotor | null; /** * Starts the enumeration of stepper motors currently accessible. * Use the method YStepperMotor.nextStepperMotor() to iterate on * next stepper motors. * * @return a pointer to a YStepperMotor object, corresponding to * the first stepper motor currently online, or a null pointer * if there are none. */ static FirstStepperMotor(): YStepperMotor | null; /** * Starts the enumeration of stepper motors currently accessible. * Use the method YStepperMotor.nextStepperMotor() to iterate on * next stepper motors. * * @param yctx : a YAPI context. * * @return a pointer to a YStepperMotor object, corresponding to * the first stepper motor currently online, or a null pointer * if there are none. */ static FirstStepperMotorInContext(yctx: YAPIContext): YStepperMotor | null; } export declare namespace YStepperMotor { const enum MOTORSTATE { ABSENT = 0, ALERT = 1, HI_Z = 2, STOP = 3, RUN = 4, BATCH = 5, INVALID = -1 } const enum STEPPING { MICROSTEP16 = 0, MICROSTEP8 = 1, MICROSTEP4 = 2, HALFSTEP = 3, FULLSTEP = 4, INVALID = -1 } interface ValueCallback { (func: YStepperMotor, value: string): void; } }