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Merge pull request #26279 from muntyan/motor-hat-2
Type definitions for motor-hat module
This commit is contained in:
Armando Aguirre
Vendored
+553
@@ -0,0 +1,553 @@
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// Type definitions for motor-hat 2.0
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// Project: http://www.github.com/jcane86/motor-hat
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// Definitions by: Yevgen Muntyan <https://github.com/muntyan>
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// Definitions: https://github.com/DefinitelyTyped/DefinitelyTyped
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// TypeScript Version: 2.2
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export type Direction = 'fwd' | 'back';
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type Callback = (err?: Error, result?: any) => void;
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export interface PinDefinitionObject {
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/**
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* Pin number of the PWM output
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*/
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PWM: number;
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/**
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* Pin number of the first coil output
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*/
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IN1: number;
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/**
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* Pin number of the second coil output
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*/
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IN2: number;
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}
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export type PinDefinition = PinDefinitionObject | number[];
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export interface DCOptions {
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/**
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* PWM Interface Object
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*/
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pwm: object;
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/**
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* Pin definition for the motor
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*/
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pins: PinDefinition;
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speed?: number;
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frequency?: number;
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}
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/**
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* DC Controller Object
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*/
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export interface DC {
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/**
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* Initialize the DC controller instance.
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* Synchronous overload.
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*/
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init(): this;
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/**
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* Initialize the DC controller instance.
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* Asynchronous overload.
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*
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* @param cb Node style callback for asynch initialization
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*/
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init(cb: Callback): void;
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/**
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* Starts the motor in the desired direction.
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*
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* @param dir Direction of movement.
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* @param cb Node style callback. Gets called with cb(err, result) after completion.
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*/
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run(dir: Direction, cb: Callback): void;
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/**
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* Starts the motor in the desired direction.
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*
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* @param dir Direction of movement.
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*/
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runSync(dir: Direction): void;
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/**
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* Stops the motor.
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* Doesn't actually brake the motor, just stops applying voltage to it.
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*
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* @param cb Node style callback. Gets called with cb(err, result) after completion.
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*/
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stop(cb: Callback): void;
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/**
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* Stops the motor.
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* Doesn't actually brake the motor, just stops applying voltage to it.
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*/
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stopSync(): void;
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/**
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* Sets DC motor speed.
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* The speed can be set as a percentage, from 0% to 100%. To change the actual top speed,
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* the actual voltage supplied to the motor needs to be controlled by hardware (get a higher
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* voltage source).
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*
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* @param speed Relative speed. 0% to 100%.
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* @param cb Node style callback. Gets called with cb(err, result) after completion.
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*/
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setSpeed(speed: number, cb: Callback): void;
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/**
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* Sets DC motor speed.
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* The speed can be set as a percentage, from 0% to 100%. To change the actual top speed,
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* the actual voltage supplied to the motor needs to be controlled by hardware (get a higher
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* voltage source).
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*
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* @param speed Relative speed. 0% to 100%.
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*/
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setSpeedSync(speed: number): void;
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/**
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* Sets the PWM frequency for the DC motor.
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* This setting affects the frequency at which the PWM chip will work to command the DC motor.
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*
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* @param freq PWM Frequency in Hz.
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* @param cb Node style callback. Gets called with cb(err, result) after completion.
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*/
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setFrequency(freq: number, cb: Callback): void;
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/**
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* Sets the PWM frequency for the DC motor.
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* This setting affects the frequency at which the PWM chip will work to command the DC motor.
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*
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* @param freq PWM Frequency in Hz.
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*/
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setFrequencySync(freq: number): void;
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}
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/**
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* Servo controller initialization options
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*/
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export interface ServoOptions {
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/**
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* PWM Interface Object
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*/
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pwm: object;
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/**
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* Servo controller pin. Which pin (0 to 15) is the servo connected to?
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*/
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pin: number;
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/**
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* Duration in ms of pulse at position 0
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*/
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min?: number;
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/**
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* Duration in ms of pulse at position 100
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*/
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max?: number;
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/**
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* PWM Controller frequency for the servo
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*/
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freq?: number;
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}
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/**
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* Servo Controller Object
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*/
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export interface Servo {
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/**
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* Move Servo to desired position.
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*
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* @param pos Relative position (0% to 100%).
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*/
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moveTo(pos: number): void;
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/**
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* Calibrate the limits for the servolib
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*
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* @param freq The update freq in Hz
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* @param min The min. pulse in ms
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* @param max The max. pulse in ms
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*/
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calibrate(freq: number, min: number, max: number): void;
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}
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/**
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* Stepper controller initialization options
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*/
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export interface StepperOptions {
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/**
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* PWM Interface Object
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*/
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pwm: object;
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/**
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* Pin definition for the motor
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*/
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pins: {
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/**
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* Pin definition for winding 1 of the stepper
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*/
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W1: PinDefinition;
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/**
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* Pin definition for winding 2 of the stepper
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*/
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W2: PinDefinition;
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};
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/**
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* Steps per revolution of the stepper motor
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*/
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steps?: number;
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/**
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* number of microsteps per step
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*/
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microsteps?: 8 | 16;
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/**
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* PWM Controller frequency for the stepper
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*/
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frequency?: number;
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/**
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* Stepping style
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*/
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style?: 'single' | 'double' | 'interleaved' | 'microstep';
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current?: number;
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/**
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* Pulses per second
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*/
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pps?: number;
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/**
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* Revolutions per minute
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*/
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rpm?: number;
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/**
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* Steps per second
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*/
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sps?: number;
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}
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export interface StepResult {
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/**
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* Performed steps
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*/
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steps: number;
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/**
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* Direction of steps performed
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*/
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dir: Direction;
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/**
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* Time in ms taken to perform the steps
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*/
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duration: number;
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/**
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* Number of steps retried
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*/
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retried: number;
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}
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export interface StepSyncResult {
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/**
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* Performed steps
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*/
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steps: number;
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/**
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* Direction of steps performed
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*/
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dir: Direction;
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/**
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* Time in ms taken to perform the steps
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*/
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duration: number;
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}
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/**
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* Stepper motor speed for step().
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*/
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export interface StepperSpeed {
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/**
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* Speed in steps per second
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*/
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sps?: number;
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/**
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* Speed in pulses per second (pulses can be steps, microsteps, etc)
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*/
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pps?: number;
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/**
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* Speed in revolutions per minute
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*/
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rpm?: number;
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}
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/**
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* Stepper motor controller
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*/
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export interface Stepper {
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readonly options: StepperOptions;
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/**
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* Initialize the Stepeper controller instance.
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* Synchronous overload.
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*
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* @returns Returns init'd Stepper controller object (self)
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*/
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init(): this;
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/**
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* Initialize the Stepeper controller instance.
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* Synchronous overload.
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*
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* @param cb Node style callback for asynch initialization
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*/
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init(cb: (err: null, self: Stepper) => void): void;
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/**
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* Perform arbitrary number of steps asynchronously.
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* Configuration as stepping style, speed, etc should have been set previously.
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*
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* @param dir Direction of movement
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* @param steps Number of steps.
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* @param cb Node style callback. cb(err, result).
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*/
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step(
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dir: Direction,
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steps: number,
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cb: (err?: Error, result?: StepResult) => void
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): void;
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/**
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* Perform arbitrary number of steps synchronously.
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* Configuration as stepping style, speed, etc should have been set previously.
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*
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* @param dir Direction of movement
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* @param steps Number of steps.
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* @returns The result of the action.
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*/
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stepSync(dir: Direction, steps: number): StepSyncResult;
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/**
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* Perform one step asynchronously.
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* Configuration as stepping style, speed, etc should have been set previously.
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*
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* @param dir Direction of movement
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* @param cb Node style callback. cb(err, result).
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*/
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oneStep(dir: Direction, cb: (err?: Error, result?: any) => void): void;
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/**
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* Perform one step synchronously.
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* Configuration as stepping style, speed, etc should have been set previously.
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*
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* @param dir Direction of movement
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*/
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oneStepSync(dir: Direction): void;
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/**
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* Release the stepper motor asynchronously.
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*
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* Stops applying current to the motor coils.
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*
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* @param cb Node style callback
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*/
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release(cb: (err?: Error, result?: any) => void): void;
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/**
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* Release the stepper motor synchronously.
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* Stops applying current to the motor coils.
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*/
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releaseSync(): void;
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/**
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* Set the current rate at which to supply the steps.
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* Provide a number from 0 to 1 and the current will be reduced proportionally
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*
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* @param current Current rate, from 0 to 1.
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*/
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setCurrent(current: number): void;
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/**
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* Set stepping style.
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*
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* @param style Stepping style.
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*/
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setStyle(style: 'single' | 'double' | 'interleaved' | 'microstep'): void;
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/**
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* Set PWM Controller working frequency asynchronously.
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*
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* @param freq PWM frequency.
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* @param cb Node style callback. cb(err, result).
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*/
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setFrequency(freq: number, cb: (err?: Error, result?: any) => void): void;
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/**
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* Set PWM Controller working frequency synchronously.
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*
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* @param freq PWM frequency.
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*/
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setFrequencySync(freq: number): void;
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/**
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* Set desired number of microsteps per step.
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* (Used for microstepping)
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*
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* @param ms Microsteps per step
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*/
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setMicrosteps(ms: 8 | 16): void;
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/**
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* Set number of steps per revolution for motor.
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*
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* @param steps Number of steps per revolution for stepper motor.
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*/
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setSteps(steps: number): void;
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/**
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* Set motor speed for step().
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*/
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setSpeed(speed: StepperSpeed): void;
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}
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export interface MotorPins {
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readonly PWM: number;
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readonly IN2: number;
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readonly IN1: number;
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}
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/**
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* motorHat controller
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*
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* Needs to be initialized with init().
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*/
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export interface MotorHat {
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readonly pins: {
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M1: MotorPins;
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M2: MotorPins;
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M3: MotorPins;
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M4: MotorPins;
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};
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/**
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* Array of initialized Servo controllers
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*/
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readonly servos: ReadonlyArray<Servo>;
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/**
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* Array of initialized Stepper controllers
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*/
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readonly steppers: ReadonlyArray<Stepper>;
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/**
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* Array of initialized DC controllers
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*/
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readonly dcs: ReadonlyArray<DC>;
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/**
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* Creates a servo motor controller.
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* Pass in an options object to generate an uninitialized ServoLib object.
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*/
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servo(opts: ServoOptions): Servo;
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/**
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* Creates a stepper motor controller.
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* Pass in an options object to generate an uninitialized StepperLib object.
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*/
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stepper(opts: StepperOptions): Stepper;
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/**
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* Creates a new DC motor controller
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* Pass in an options object to generate an uninitialized DCLib object
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*/
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dc(opts: DCOptions): DC;
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/**
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* Initialize the motorHat library instance.
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* Synchronous overload.
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*
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* Instantiates the individual Motor/Servo/Stepper controllers and initializes them.
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*
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* @returns Returns initialized motorHat object (self)
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*/
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init(): MotorHat;
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/**
|
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* Initialize the motorHat library instance.
|
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* Asynchronous overload.
|
||||
*
|
||||
* Instantiates the individual Motor/Servo/Stepper controllers and initializes them.
|
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* Returns initialized motorHat object (self) in second parameter to callback if callback
|
||||
* provided, to enable chaining.
|
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*
|
||||
* @param cb Node style callback for asynch initialization
|
||||
*/
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init(cb: Callback): void;
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}
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||||
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export type Motor = 'M1' | 'M2' | 'M3' | 'M4';
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||||
|
||||
export interface MotorHatOptions {
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/**
|
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* i2c address of the PWM chip on the MotorHat.
|
||||
*
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||||
* * 0x6F for knockoff HATs.
|
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*
|
||||
* * 0x60 for official AdaFruit HATs??
|
||||
*/
|
||||
address?: number;
|
||||
|
||||
/**
|
||||
* i2c driver devfile number. Varies by RaspBerry version.
|
||||
* Should be automatically detected.
|
||||
*/
|
||||
busnum?: number;
|
||||
|
||||
/**
|
||||
* Definition of the stepper motors connected to the HAT.
|
||||
* At most 2 steppers, each motor is represented by either an object of the form
|
||||
* { W1: winding, W2: winding }. Each winding should be one of following: 'M1', 'M2', 'M3',
|
||||
* 'M4' depending on the port the stepper is connected to. Correct example: { W1: 'M3', W2: 'M1' }
|
||||
*/
|
||||
steppers?: ReadonlyArray<{ W1: Motor; W2: Motor }>;
|
||||
|
||||
/**
|
||||
* Definition of the DC motors connected to the HAT.
|
||||
* At most 4 DCs, each should be one of following: 'M1', 'M2', 'M3', 'M4' depending on
|
||||
* port the motor is connected to.
|
||||
*/
|
||||
dcs?: ReadonlyArray<Motor>;
|
||||
|
||||
/**
|
||||
* Definition of the servos connected to the HAT.
|
||||
* List of the channels that have servos connected to them. 0 to 15.
|
||||
*/
|
||||
servos?: ReadonlyArray<number>;
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates a new MotorHat controller
|
||||
*
|
||||
* Pass in an options object to generate an uninitialized MotorHat object.
|
||||
*/
|
||||
declare function motorhat(options: MotorHatOptions): MotorHat;
|
||||
export default motorhat;
|
||||
@@ -0,0 +1,15 @@
|
||||
import createMotorHat, { DC, Motor, MotorHat } from 'motor-hat';
|
||||
|
||||
function test() {
|
||||
const motors: Motor[] = ['M1', 'M2'];
|
||||
const motorHat: MotorHat = createMotorHat({
|
||||
dcs: motors,
|
||||
servos: [1, 2, 3],
|
||||
steppers: [{ W1: 'M3', W2: 'M1' }],
|
||||
address: 0x60,
|
||||
}).init();
|
||||
const dcL: DC = motorHat.dcs[0];
|
||||
const dcR: DC = motorHat.dcs[1];
|
||||
dcL.run('fwd', () => {});
|
||||
dcR.setSpeed(50, (err) => {});
|
||||
}
|
||||
@@ -0,0 +1,23 @@
|
||||
{
|
||||
"compilerOptions": {
|
||||
"module": "commonjs",
|
||||
"lib": [
|
||||
"es6"
|
||||
],
|
||||
"noImplicitAny": true,
|
||||
"noImplicitThis": true,
|
||||
"strictNullChecks": true,
|
||||
"strictFunctionTypes": true,
|
||||
"baseUrl": "../",
|
||||
"typeRoots": [
|
||||
"../"
|
||||
],
|
||||
"types": [],
|
||||
"noEmit": true,
|
||||
"forceConsistentCasingInFileNames": true
|
||||
},
|
||||
"files": [
|
||||
"index.d.ts",
|
||||
"motor-hat-tests.ts"
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1 @@
|
||||
{ "extends": "dtslint/dt.json" }
|
||||
Reference in New Issue
Block a user