Interface Gantry

Represents a physical gantry that exists in three-dimensional space.

interface Gantry {
    doCommand: ((command) => Promise<StructType>);
    getLengths: ((extra?) => Promise<number[]>);
    getPosition: ((extra?) => Promise<number[]>);
    home: ((extra?) => Promise<boolean>);
    isMoving: (() => Promise<boolean>);
    moveToPosition: ((positionsMm, speedsMmPerSec, extra?) => Promise<void>);
    stop: ((extra?) => Promise<void>);
}

Hierarchy (view full)

Implemented by

Properties

doCommand getLengths getPosition home isMoving moveToPosition stop

Properties

doCommand

doCommand: ((command) => Promise<StructType>)

Send/Receive arbitrary commands to the resource.

Type declaration

getLengths

getLengths: ((extra?) => Promise<number[]>)

Type declaration

    • (extra?): Promise<number[]>

    • Parameters

      Returns Promise<number[]>

Returns

The lengths of the axes of the gantry in millimeters.

getPosition

getPosition: ((extra?) => Promise<number[]>)

Type declaration

    • (extra?): Promise<number[]>

    • Parameters

      Returns Promise<number[]>

Returns

The current position of each axis.

home

home: ((extra?) => Promise<boolean>)

Runs the homing sequence to find the start and end positions of the gantry axis.

Type declaration

    • (extra?): Promise<boolean>

    • Parameters

      Returns Promise<boolean>

Returns

A bool representing whether the gantry has run the homing sequence successfully.

isMoving

isMoving: (() => Promise<boolean>)

Get if the gantry is currently moving.

Type declaration

    • (): Promise<boolean>

    • Returns Promise<boolean>

moveToPosition

moveToPosition: ((positionsMm, speedsMmPerSec, extra?) => Promise<void>)

Move each axis of the gantry to the positionsMm at the speeds in speedsMmPerSec

Type declaration

    • (positionsMm, speedsMmPerSec, extra?): Promise<void>

    • Parameters

      • positionsMm: number[]

        The goal positions for each axis of the gantry.

      • speedsMmPerSec: number[]

        The desired speed for each axis to move to the respective position in positionsMm.

      • Optional extra: StructType

      Returns Promise<void>

stop

stop: ((extra?) => Promise<void>)

Stops the motion of the gantry.

Type declaration

    • (extra?): Promise<void>

    • Parameters

      Returns Promise<void>

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