Dynamic modes

src/consts.ts

@@ -636,4 +636,23 @@ export enum PortInputFormatSetupSubCommand {
 }
 
 
+/**
+ * @typedef ValueType
+ * @param {number} Int8 0x01
+ * @param {number} Int16 0x02
+ * @param {number} Int32 0x03
+ * @param {number} Float 0x04
+ */
+export enum ValueType {
+    Int8 = 0x00,
+    Int16 = 0x01,
+    Int32 = 0x02,
+    Float = 0x03,
+}
 
+export const ValueTypeSize = {
+    [ValueType.Int8]: 1,
+    [ValueType.Int16]: 2,
+    [ValueType.Int32]: 4,
+    [ValueType.Float]: 4,
+}

src/devices/absolutemotor.ts

@@ -1,40 +1,65 @@
-import { TachoMotor } from "./tachomotor";
+import { TachoMotor, modes as TachoMotorModes } from "./tachomotor";
 
-import { IDeviceInterface } from "../interfaces";
+import { IDeviceInterface, IMode, IEventData } from "../interfaces";
 
 import * as Consts from "../consts";
 import { mapSpeed, normalizeAngle, roundAngleToNearest90 } from "../utils";
 
+export const modes = TachoMotorModes.concat([
+    // POWER
+    // SPEED/speed
+    // POS/rotate
+    {
+        name: "absolute", // APOS
+        input: true,
+        output: true,
+        raw: { min: -360, max: 360 },
+        pct: { min: -100, max: 100 },
+        si: { min: -360, max: 360, symbol: "DEG" },
+        values: { count: 1, type: Consts.ValueType.Int16 }
+    },
+    {
+        name: "LOAD",
+        input: true,
+        output: true,
+        raw: { min: 0, max: 127 },
+        pct: { min: 0, max: 100 },
+        si: { min: 0, max: 127, symbol: "PCT" },
+        values: { count: 1, type: Consts.ValueType.Int8 }
+    },
+    {
+        name: "CALIB",
+        input: false,
+        output: false,
+        raw: { min: 0, max: 512 },
+        pct: { min: 0, max: 100 },
+        si: { min: 0, max: 512, symbol: "RAW" },
+        values: { count: 3, type: Consts.ValueType.Int16 }
+    }
+])
+
 /**
  * @class AbsoluteMotor
  * @extends TachoMotor
  */
 export class AbsoluteMotor extends TachoMotor {
 
-    constructor (hub: IDeviceInterface, portId: number, modeMap: {[event: string]: number} = {}, type: Consts.DeviceType = Consts.DeviceType.UNKNOWN) {
-        super(hub, portId, Object.assign({}, modeMap, ModeMap), type);
-    }
+    constructor (hub: IDeviceInterface, portId: number, _modes: IMode[] = [], type: Consts.DeviceType = Consts.DeviceType.UNKNOWN) {
+        super(hub, portId, _modes.length > 0 ? _modes : modes, type);
 
-    public receive (message: Buffer) {
-        const mode = this._mode;
-
-        switch (mode) {
-            case Mode.ABSOLUTE:
-                const angle = normalizeAngle(message.readInt16LE(this.isWeDo2SmartHub ? 2 : 4));
-                /**
-                 * Emits when a the motors absolute position is changed.
-                 * @event AbsoluteMotor#absolute
-                 * @type {object}
-                 * @param {number} absolute
-                 */
-                this.notify("absolute", { angle });
-                break;
-            default:
-                super.receive(message);
-                break;
-        }
+        this._eventHandlers.rotate = (data: IEventData) => {
+            const [angle] = data.raw;
+            /**
+             * Emits when a the motors absolute position is changed.
+             * @event AbsoluteMotor#absolute
+             * @type {object}
+             * @param {number} absolute
+             */
+            this.notify("absolute", { angle });
+        };
     }
 
+
     /**
      * Rotate a motor by a given angle.
      * @method AbsoluteMotor#gotoAngle
@@ -117,15 +142,4 @@ export class AbsoluteMotor extends TachoMotor {
         });
     }
 
-
 }
-
-export enum Mode {
-    ROTATION = 0x02,
-    ABSOLUTE = 0x03
-}
-
-export const ModeMap: {[event: string]: number} = {
-    "rotate": Mode.ROTATION,
-    "absolute": Mode.ABSOLUTE
-};

src/devices/basicmotor.ts

@@ -1,20 +1,32 @@
 import { Device } from "./device";
 
-import { IDeviceInterface } from "../interfaces";
+import { IDeviceInterface, IMode } from "../interfaces";
 
 import * as Consts from "../consts";
 
 import { calculateRamp, mapSpeed } from "../utils";
 
+export const modes = [
+    {
+        name: "POWER", // or LPF2-MOTOR
+        input: false,
+        output: true,
+        raw: { min: -100, max: 100 },
+        pct: { min: -100, max: 100 },
+        si: { min: -100, max: 100, symbol: "PCT" },
+        values: { count: 1, type: Consts.ValueType.Int8 }
+    }
+];
+
 /**
  * @class BasicMotor
  * @extends Device
  */
 export class BasicMotor extends Device {
 
 
-    constructor (hub: IDeviceInterface, portId: number, modeMap: {[event: string]: number}, type: Consts.DeviceType = Consts.DeviceType.UNKNOWN) {
-        super(hub, portId, modeMap, type);
+    constructor (hub: IDeviceInterface, portId: number, _modes: IMode[] = [], type: Consts.DeviceType = Consts.DeviceType.UNKNOWN) {
+        super(hub, portId, _modes.length > 0 ? _modes : modes, type);
     }