CubeMotorChar
Hierarchy
↳ CubeMotorChar
Implements
Index
Constructors
Properties
Methods
- motorControl
- motorControlAccelerationSpecified
- motorControlAimSpecified
- motorControlMultipleAimSpecified
- motorControlTimeSpecified
- prepare
- readValue
- setFrameRate
- writeValue
- writeValueCore
Constructors
constructor
+ new CubeMotorChar(service: BluetoothRemoteGATTService): CubeMotorChar
Inherited from CubeChar.constructor
Defined in cube/char/char.ts:19
Parameters:
| Name | Type |
|---|---|
service | BluetoothRemoteGATTService |
Returns: CubeMotorChar
Properties
Protected characteristic
• characteristic: BluetoothRemoteGATTCharacteristic
Inherited from CubeChar.characteristic
Defined in cube/char/char.ts:10
Protected errStrInProgress
• errStrInProgress: string = "GATT operation already in progress."
Inherited from CubeChar.errStrInProgress
Defined in cube/char/char.ts:12
Readonly uuid
• uuid: string = "10b20102-5b3b-4571-9508-cf3efcd7bbae"
Defined in cube/char/motorChar.ts:4
Static angleTypeId
▪ angleTypeId: object = { absEfficient: 0, absPositiveDir: 1, absNegativeDir: 2, relPositiveDir: 3, relNegativeDir: 4, noRotate: 5, sameAsCurrent: 6, } as const
Defined in cube/char/motorChar.ts:55
Angle type IDs.
Type declaration:
absEfficient: 0 = 0
absNegativeDir: 2 = 2
absPositiveDir: 1 = 1
noRotate: 5 = 5
relNegativeDir: 4 = 4
relPositiveDir: 3 = 3
sameAsCurrent: 6 = 6
Static easeTypeId
▪ easeTypeId: object = { constant: 0, accel: 1, decel: 2, accelDecel: 3, } as const
Defined in cube/char/motorChar.ts:45
Ease type IDs.
Type declaration:
accel: 1 = 1
accelDecel: 3 = 3
constant: 0 = 0
decel: 2 = 2
Static moveTypeId
▪ moveTypeId: object = { efficient: 0, withoutBack: 1, rotate1st: 2, } as const
Defined in cube/char/motorChar.ts:36
Movement type IDs.
Type declaration:
efficient: 0 = 0
rotate1st: 2 = 2
withoutBack: 1 = 1
Methods
motorControl
▸ motorControl(left: number, right: number): void
Defined in cube/char/motorChar.ts:123
Primitive motor control.
Parameters:
| Name | Type | Description |
|---|---|---|
left | number | Left motor speed. Negative value means back direction. -115 to -8, 8 to 115, and 0 integer value. |
right | number | Right motor speed. Negative value means back direction. -115 to -8, 8 to 115, and 0 integer value. |
Returns: void
motorControlAccelerationSpecified
▸ motorControlAccelerationSpecified(): void
Defined in cube/char/motorChar.ts:284
Acceleration specified motor control. NOT IMPLEMENTED YET.
Returns: void
motorControlAimSpecified
▸ motorControlAimSpecified(aim: object, maxSpeed: number, moveType: 0, easeType: 0, timeout: number): void
Defined in cube/char/motorChar.ts:161
Aim specified motor control.
Parameters:
▪ aim: object
object including following properties. x, y: coordinate of aimed point. angle(Optional): Cube's angle at the goal point. angleType(Optional): angleTypeId value. See the spec
| Name | Type |
|---|---|
angle? | undefined | number |
angleType? | undefined | number |
x | number |
y | number |
▪ maxSpeed: number
8 to 115, and 0 integer value.
▪Default value moveType: 0= CubeMotorChar.moveTypeId.efficient
(Optional)moveTypeId value. default is moveTypeId.efficient
▪Default value easeType: 0= CubeMotorChar.easeTypeId.constant
(Optional)easeTypeId value. default is easeTypeId.constant
▪Default value timeout: number= 5
(Optional)timeout in sec. default is 5 sec. 1-255 sec. 0 means exceptionally 10 sec.
Returns: void
motorControlMultipleAimSpecified
▸ motorControlMultipleAimSpecified(aims: object[], maxSpeed: number, moveType: 0, easeType: 0, isAppend: boolean, timeout: number): void
Defined in cube/char/motorChar.ts:225
Multiple aim specified motor control.
Parameters:
| Name | Type | Default | Description |
|---|---|---|---|
aims | object[] | - | object array each aim includes following properties. x, y: coordinate of aimed point. angle(Optional): Cube's angle at the goal point. angleType(Optional): angleTypeId value. See the spec |
maxSpeed | number | - | 8 to 115, and 0 integer value. |
moveType | 0 | CubeMotorChar.moveTypeId.efficient | (Optional)moveTypeId value. default is moveTypeId.efficient |
easeType | 0 | CubeMotorChar.easeTypeId.constant | (Optional)easeTypeId value. default is easeTypeId.constant |
isAppend | boolean | false | (Optional)true: append to existing mutiple aim command. false: overwrite existing command. |
timeout | number | 5 | (Optional)timeout in sec. default is 5 sec. 1-255 sec. 0 means exceptionally 10 sec. |
Returns: void
motorControlTimeSpecified
▸ motorControlTimeSpecified(left: number, right: number, duration: number): void
Defined in cube/char/motorChar.ts:134
Time specified motor control.
Parameters:
| Name | Type | Default | Description |
|---|---|---|---|
left | number | - | Left motor speed. Negative value means back direction. -115 to -8, 8 to 115, and 0 integer value. |
right | number | - | Right motor speed. Negative value means back direction. -115 to -8, 8 to 115, and 0 integer value. |
duration | number | 0 | Motor control duration in msec. 0-2550( 0: Eternally ). |
Returns: void
prepare
▸ prepare(): Promise‹string | Error›
Implementation of CubeCharIF
Defined in cube/char/motorChar.ts:70
Prepare for using motor characteristic function.
Returns: Promise‹string | Error›
Promise. resolve handler says that methods are available in this class.
readValue
▸ readValue(): Promise‹DataView›
Implementation of CubeCharIF
Inherited from CubeChar.readValue
Defined in cube/char/char.ts:110
Read value from remote GATT Characteristics.
Returns: Promise‹DataView›
Promise. resolve handler include data.
setFrameRate
▸ setFrameRate(fps: number): void
Implementation of CubeCharIF
Inherited from CubeChar.setFrameRate
Defined in cube/char/char.ts:134
Set framerate.
Parameters:
| Name | Type |
|---|---|
fps | number |
Returns: void
writeValue
▸ writeValue(buf: ArrayBuffer): Promise‹string | Error›
Implementation of CubeCharIF
Inherited from CubeChar.writeValue
Defined in cube/char/char.ts:55
Write value to remote GATT Characteristics.
Parameters:
| Name | Type | Description |
|---|---|---|
buf | ArrayBuffer | data buffer including command for Cube. |
Returns: Promise‹string | Error›
Promise. resolve handler says that write command executed correctly.
writeValueCore
▸ writeValueCore(buf: ArrayBuffer, countRetry: number): Promise‹string | Error›
Inherited from CubeChar.writeValueCore
Defined in cube/char/char.ts:78
Write value to remote GATT Characteristics. Core function.
Parameters:
| Name | Type | Description |
|---|---|---|
buf | ArrayBuffer | data buffer including command for Cube. |
countRetry | number | Counter for retry. |
Returns: Promise‹string | Error›
Promise. resolve handler says that write command executed correctly.