/** @module motor */
// Import the generated protobuf module
import $root from "./protobuf/protobuf.js";
const Dwarfii_Api = $root;
import { createPacket } from "./api_utils.js";
import { cmdMapping } from "./cmd_mapping.js";
/*** ---------------------------------------------- ***/
/*** ---------------- MODULE_MOTOR ---------------- ***/
/*** ---------------------------------------------- ***/
/**
* 4.13.3 Motor motion
* Create Encoded Packet for the command CMD_STEP_MOTOR_RUN
* @param {number} id ; //1 : Rotation axis 2: Pitch axis
* @param {number} speed ; //5 gears: 0.1, 1, 5, 10, 30 degrees/s, supports maximum speed of 32 degrees/s
* @param {boolean} direction ; //0: left/down 1: right/up
* @param {number} speed_ramping ; //Acceleration and deceleration: 0-1000, 100 gears, a total of 11 gears
* @param {number} resolution_level ; //Subdivision: 5:32 subdivision
// Subdivision:
// 0：256 Subdivision
// 1：128 Subdivision
// 2：64 Subdivision
// 3：32 Subdivision
// 4：16 Subdivision
// 5：8 Subdivision
// 6：4 Subdivision
// 7：2 Subdivision
// 8：1 Subdivision
* @returns {Uint8Array}
*/
export function messageStepMotorMotion(
id,
speed,
direction,
speed_ramping,
resolution_level
) {
let module_id = Dwarfii_Api.ModuleId.MODULE_MOTOR;
let interface_id = Dwarfii_Api.DwarfCMD.CMD_STEP_MOTOR_RUN;
let type_id = Dwarfii_Api.MessageTypeId.TYPE_REQUEST;
// Obtain classname depending of the command
// Obtain a message class
const cmdClass = cmdMapping[interface_id];
let class_message = eval(`Dwarfii_Api.${cmdClass}`);
// Encode message
let message = class_message.create({
id: id,
speed: speed,
direction: direction,
speedRamping: speed_ramping,
resolutionLevel: resolution_level,
});
console.log(
`class Message = ${cmdClass} created message = ${JSON.stringify(message)}`
);
// return encoded Message Packet
return createPacket(message, class_message, module_id, interface_id, type_id);
}
/**
* Create Encoded Packet for the command CMD_STEP_MOTOR_STOP
* 4.13.4 Motor stop
* @param {number} id ; //0: Rotation axis 1: Pitch axis
* @returns {Uint8Array}
*/
export function messageStepMotorStop(id) {
let module_id = Dwarfii_Api.ModuleId.MODULE_MOTOR;
let interface_id = Dwarfii_Api.DwarfCMD.CMD_STEP_MOTOR_STOP;
let type_id = Dwarfii_Api.MessageTypeId.TYPE_REQUEST;
// Obtain classname depending of the command
// Obtain a message class
const cmdClass = cmdMapping[interface_id];
let class_message = eval(`Dwarfii_Api.${cmdClass}`);
// Encode message
let message = class_message.create({ id: id });
console.log(
`class Message = ${cmdClass} created message = ${JSON.stringify(message)}`
);
// return encoded Message Packet
return createPacket(message, class_message, module_id, interface_id, type_id);
}
/**
* 4.13.5 Joystick
* Create Encoded Packet for the command CMD_STEP_MOTOR_SERVICE_JOYSTICK
* @param {number} vector_angle ; //The angle of the direction vector, indicating the direction of motion of the field of view, 0-360 degrees, 0 degrees starting from the positive x-axis and increasing counterclockwise
* @param {number} vector_length ; //The length of the direction vector represents the scaling factor of the speed, 0-1, and the speed is finely adjusted according to the range of the joystick drag
* @param {number} speed ; //speed along the direction vector, 0.1 �/s-30 �/s
* @returns {Uint8Array}
*/
export function messageStepMotorServiceJoystick(
vector_angle,
vector_length,
speed
) {
let module_id = Dwarfii_Api.ModuleId.MODULE_MOTOR;
let interface_id = Dwarfii_Api.DwarfCMD.CMD_STEP_MOTOR_SERVICE_JOYSTICK;
let type_id = Dwarfii_Api.MessageTypeId.TYPE_REQUEST;
// Obtain classname depending of the command
// Obtain a message class
const cmdClass = cmdMapping[interface_id];
let class_message = eval(`Dwarfii_Api.${cmdClass}`);
// Encode message
let message = class_message.create({
vectorAngle: vector_angle,
vectorLength: vector_length,
speed: speed,
});
console.log(
`class Message = ${cmdClass} created message = ${JSON.stringify(message)}`
);
// return encoded Message Packet
return createPacket(message, class_message, module_id, interface_id, type_id);
}
/**
* 4.13.6 Short press the arrow keys with the joystick
* Create Encoded Packet for the command CMD_STEP_MOTOR_SERVICE_JOYSTICK_FIXED_ANGLE
* @param {number} vector_angle ; //The angle of the direction vector, indicating the direction of motion of the field of view, 0-360 degrees, 0 degrees starting from the positive x-axis and increasing counterclockwise
* @param {number} vector_length ; //The length of the direction vector represents the scaling factor of the speed, 0-1, and the speed is finely adjusted according to the range of the joystick drag
* @param {number} speed ; //speed along the direction vector, 0.1 �/s-30 �/s
* @returns {Uint8Array}
*/
export function messageStepMotorServiceJoystickFixedAngle(
vector_angle,
vector_length,
speed
) {
let module_id = Dwarfii_Api.ModuleId.MODULE_MOTOR;
let interface_id =
Dwarfii_Api.DwarfCMD.CMD_STEP_MOTOR_SERVICE_JOYSTICK_FIXED_ANGLE;
let type_id = Dwarfii_Api.MessageTypeId.TYPE_REQUEST;
// Obtain classname depending of the command
// Obtain a message class
const cmdClass = cmdMapping[interface_id];
let class_message = eval(`Dwarfii_Api.${cmdClass}`);
// Encode message
let message = class_message.create({
vectorAngle: vector_angle,
vectorLength: vector_length,
speed: speed,
});
console.log(
`class Message = ${cmdClass} created message = ${JSON.stringify(message)}`
);
// return encoded Message Packet
return createPacket(message, class_message, module_id, interface_id, type_id);
}
/**
* 4.13.7 Stop joystick
* Create Encoded Packet for the command CMD_STEP_MOTOR_SERVICE_JOYSTICK_STOP
* @returns {Uint8Array}
*/
export function messageStepMotorServiceJoystickStop() {
let module_id = Dwarfii_Api.ModuleId.MODULE_MOTOR;
let interface_id = Dwarfii_Api.DwarfCMD.CMD_STEP_MOTOR_SERVICE_JOYSTICK_STOP;
let type_id = Dwarfii_Api.MessageTypeId.TYPE_REQUEST;
// Obtain classname depending of the command
// Obtain a message class
const cmdClass = cmdMapping[interface_id];
let class_message = eval(`Dwarfii_Api.${cmdClass}`);
// Encode message
let message = class_message.create({});
console.log(
`class Message = ${cmdClass} created message = ${JSON.stringify(message)}`
);
// return encoded Message Packet
return createPacket(message, class_message, module_id, interface_id, type_id);
}
/**
* 4.13.8 Dual camera linkage
* Create Encoded Packet for the command CMD_STEP_MOTOR_SERVICE_DUAL_CAMERA_LINKAGE
* @param {number} x ;
* @param {number} y ;
* @returns {Uint8Array}
*/
export function messageStepMotorServiceDualCameraLinkage(x, y) {
let module_id = Dwarfii_Api.ModuleId.MODULE_MOTOR;
let interface_id =
Dwarfii_Api.DwarfCMD.CMD_STEP_MOTOR_SERVICE_DUAL_CAMERA_LINKAGE;
let type_id = Dwarfii_Api.MessageTypeId.TYPE_REQUEST;
// Obtain classname depending of the command
// Obtain a message class
const cmdClass = cmdMapping[interface_id];
let class_message = eval(`Dwarfii_Api.${cmdClass}`);
// Encode message
let message = class_message.create({ x: x, y: y });
console.log(
`class Message = ${cmdClass} created message = ${JSON.stringify(message)}`
);
// return encoded Message Packet
return createPacket(message, class_message, module_id, interface_id, type_id);
}
/**
* 4.13.9 Motor Run To (Not Documented)
* Create Encoded Packet for the command CMD_STEP_MOTOR_RUN_TO
* @param {number} id ; // 1 : Rotation axis 2: Pitch axis
* @param {number} end_position ;
* @param {number} speed ; //5 gears: 0.1, 1, 5, 10, 30 degrees/s, supports maximum speed of 32 degrees/s
* @param {number} speed_ramping ; //Acceleration and deceleration: 0-1000, 100 gears, a total of 11 gears
* @param {number} resolution_level ; //Subdivision: 5:32 subdivision
* @returns {Uint8Array}
*/
export function messageStepMotorMotionTo(
id,
end_position,
speed,
speed_ramping,
resolution_level
) {
let module_id = Dwarfii_Api.ModuleId.MODULE_MOTOR;
let interface_id = Dwarfii_Api.DwarfCMD.CMD_STEP_MOTOR_RUN_TO;
let type_id = Dwarfii_Api.MessageTypeId.TYPE_REQUEST;
// Obtain classname depending of the command
// Obtain a message class
const cmdClass = cmdMapping[interface_id];
let class_message = eval(`Dwarfii_Api.${cmdClass}`);
// Encode message
let message = class_message.create({
id: id,
endPosition: end_position,
speed: speed,
speedRamping: speed_ramping,
resolutionLevel: resolution_level,
});
console.log(
`class Message = ${cmdClass} created message = ${JSON.stringify(message)}`
);
// return encoded Message Packet
return createPacket(message, class_message, module_id, interface_id, type_id);
}
/**
* 4.13.10 Motor Reset (Not Documented)
* Create Encoded Packet for the command CMD_STEP_MOTOR_RESET
* @param {number} id ; // 1 : Rotation axis 2: Pitch axis
* @param {boolean} direction; //2 : 0: left/down 1: right/up
* @returns {Uint8Array}
*/
export function messageStepMotorReset(id, direction) {
let module_id = Dwarfii_Api.ModuleId.MODULE_MOTOR;
let interface_id = Dwarfii_Api.DwarfCMD.CMD_STEP_MOTOR_RESET;
let type_id = Dwarfii_Api.MessageTypeId.TYPE_REQUEST;
// Obtain classname depending of the command
// Obtain a message class
const cmdClass = cmdMapping[interface_id];
let class_message = eval(`Dwarfii_Api.${cmdClass}`);
// Encode message
let message = class_message.create({
id: id,
direction: direction,
});
console.log(
`class Message = ${cmdClass} created message = ${JSON.stringify(message)}`
);
// return encoded Message Packet
return createPacket(message, class_message, module_id, interface_id, type_id);
}
/**
* 4.13.11 Motor Change Speed (Not Documented)
* Create Encoded Packet for the command CMD_STEP_MOTOR_CHANGE_SPEED
* @param {number} id ; // 1 : Rotation axis 2: Pitch axis
* @param {number} speed; //2 : 5 gears: 0.1, 1, 5, 10, 30 degrees/s, supports maximum speed of 32 degrees/s
* @returns {Uint8Array}
*/
export function messageStepMotorChangeSpeed(id, speed) {
let module_id = Dwarfii_Api.ModuleId.MODULE_MOTOR;
let interface_id = Dwarfii_Api.DwarfCMD.CMD_STEP_MOTOR_CHANGE_SPEED;
let type_id = Dwarfii_Api.MessageTypeId.TYPE_REQUEST;
// Obtain classname depending of the command
// Obtain a message class
const cmdClass = cmdMapping[interface_id];
let class_message = eval(`Dwarfii_Api.${cmdClass}`);
// Encode message
let message = class_message.create({
id: id,
speed: speed,
});
console.log(
`class Message = ${cmdClass} created message = ${JSON.stringify(message)}`
);
// return encoded Message Packet
return createPacket(message, class_message, module_id, interface_id, type_id);
}
/**
* 4.13.12 Motor Change direction (Not Documented)
* Create Encoded Packet for the command CMD_STEP_MOTOR_CHANGE_DIRECTION
* @param {number} id ; // 1 : Rotation axis 2: Pitch axis
* @param {boolean} direction ; //0: left/down 1: right/up
* @returns {Uint8Array}
*/
export function messageStepMotorChangeDirection(id, direction) {
let module_id = Dwarfii_Api.ModuleId.MODULE_MOTOR;
let interface_id = Dwarfii_Api.DwarfCMD.CMD_STEP_MOTOR_CHANGE_DIRECTION;
let type_id = Dwarfii_Api.MessageTypeId.TYPE_REQUEST;
// Obtain classname depending of the command
// Obtain a message class
const cmdClass = cmdMapping[interface_id];
let class_message = eval(`Dwarfii_Api.${cmdClass}`);
// Encode message
let message = class_message.create({
id: id,
direction: direction,
});
console.log(
`class Message = ${cmdClass} created message = ${JSON.stringify(message)}`
);
// return encoded Message Packet
return createPacket(message, class_message, module_id, interface_id, type_id);
}
/**
* 4.13.14 Motor Get Position (Not Documented)
* Create Encoded Packet for the command CMD_STEP_MOTOR_GET_POSITION
* @param {number} id ; // 1 : Rotation axis 2: Pitch axis
* @returns {Uint8Array}
*/
export function messageStepMotorGetPosition(id) {
let module_id = Dwarfii_Api.ModuleId.MODULE_MOTOR;
let interface_id = Dwarfii_Api.DwarfCMD.CMD_STEP_MOTOR_GET_POSITION;
let type_id = Dwarfii_Api.MessageTypeId.TYPE_REQUEST;
// Obtain classname depending of the command
// Obtain a message class
const cmdClass = cmdMapping[interface_id];
let class_message = eval(`Dwarfii_Api.${cmdClass}`);
// Encode message
let message = class_message.create({
id: id,
});
console.log(
`class Message = ${cmdClass} created message = ${JSON.stringify(message)}`
);
// return encoded Message Packet
return createPacket(message, class_message, module_id, interface_id, type_id);
}