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Feature/additional analog inputs #87

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merged 7 commits into from
Jun 28, 2023
Merged

Feature/additional analog inputs #87

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a8d4ef9
Add missing analog commands
Jun 26, 2023
94b9e51
clarify 5v rail measurement command
Jun 26, 2023
b8e1a58
Merge branch 'main' into feature/additional-analog-inputs
Jun 26, 2023
1c4021c
move sigint handlers after hub declaration
Jun 26, 2023
18dd654
Merge branch 'main' into feature/additional-analog-inputs
Jun 27, 2023
02dc4c2
Add braces
Jun 27, 2023
c36af0a
fix description
LandryNorris Jun 27, 2023
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76 changes: 69 additions & 7 deletions packages/sample/src/command/analog.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -4,30 +4,92 @@ export async function analog(hub: ExpansionHub, channel: number, continuous: boo
while (true) {
let value = await hub.getAnalogInput(channel);
console.log(`ADC: ${value} mV`);
if (!continuous) break;
if (!continuous) {
break;
}
}
}

export async function temperature(hub: ExpansionHub, continuous: boolean) {
while (true) {
let value = await hub.getTemperature();
console.log(`Temperature: ${value} C`);
if (!continuous) break;
if (!continuous) {
break;
}
}
}

export async function battery(hub: ExpansionHub, continuous: boolean) {
export async function batteryVoltage(hub: ExpansionHub, continuous: boolean) {
while (true) {
let value = await hub.getTemperature();
console.log(`Temperature: ${value} C`);
if (!continuous) break;
let value = await hub.getBatteryVoltage();
console.log(`Battery Voltage: ${value} mV`);
if (!continuous) {
break;
}
}
}

export async function batteryCurrent(hub: ExpansionHub, continuous: boolean) {
while (true) {
let value = await hub.getBatteryCurrent();
console.log(`Battery Current: ${value} mA`);
if (!continuous) {
break;
}
}
}

export async function voltageRail(hub: ExpansionHub, continuous: boolean) {
while (true) {
let value = await hub.get5VBusVoltage();
console.log(`5V rail: ${value} mV`);
if (!continuous) break;
if (!continuous) {
break;
}
}
}

export async function i2cCurrent(hub: ExpansionHub, continuous: boolean) {
while (true) {
let value = await hub.getI2CCurrent();
console.log(`I2C Current: ${value} mA`);
if (!continuous) {
break;
}
}
}

export async function servoCurrent(hub: ExpansionHub, continuous: boolean) {
while (true) {
let value = await hub.getServoCurrent();
console.log(`Servo Current: ${value} mA`);
if (!continuous) {
break;
}
}
}

export async function motorCurrent(
hub: ExpansionHub,
channel: number,
continuous: boolean,
) {
while (true) {
let value = await hub.getMotorCurrent(channel);
console.log(`Motor ${channel} Current: ${value} mA`);
if (!continuous) {
break;
}
}
}

export async function digitalBusCurrent(hub: ExpansionHub, continuous: boolean) {
while (true) {
let value = await hub.getBatteryCurrent();
console.log(`Digital Bus Current: ${value} mA`);
if (!continuous) {
break;
}
}
}
150 changes: 132 additions & 18 deletions packages/sample/src/main.ts
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Original file line number Diff line number Diff line change
@@ -1,5 +1,15 @@
import { Command } from "commander";
import { analog, battery, temperature, voltageRail } from "./command/analog.js";
import {
analog,
batteryCurrent,
batteryVoltage,
digitalBusCurrent,
i2cCurrent,
motorCurrent,
servoCurrent,
temperature,
voltageRail,
} from "./command/analog.js";
import { error } from "./command/error.js";
import { list } from "./command/list.js";
import { led } from "./command/led.js";
Expand Down Expand Up @@ -38,13 +48,36 @@ program
.command("led")
.description("Run LED steps")
.action(async () => {
let hubs = await openConnectedExpansionHubs();
let hub = hubs[0];

runOnSigint(() => {
hub.close();
});

await led(hub);
});

let motorCommand = program.command("motor");

motorCommand
.command("current <channel>")
.option("--continuous", "Run continuously")
.description(
"Read the current through a motor. Specify --continuous to run continuously",
)
.action(async (channel, options) => {
let hubs = await openConnectedExpansionHubs();
let hub = hubs[0];
await led(hub);
let isContinuous = options.continuous !== undefined;
let channelNumber = Number(channel);

runOnSigint(() => {
hub.close();
});

await motorCurrent(hub, channelNumber, isContinuous);
hub.close();
});

program
Expand All @@ -55,15 +88,17 @@ program
"--continuous to run continuously.",
)
.action(async (port, options) => {
runOnSigint(() => {
hub.close();
});

let isContinuous = options.continuous !== undefined;
let portNumber = Number(port);
let hubs = await openConnectedExpansionHubs();
let hub = hubs[0];

runOnSigint(() => {
hub.close();
});

await analog(hub, portNumber, isContinuous);
hub.close();
});

program
Expand All @@ -74,67 +109,146 @@ program
"Specify --continuous to run continuously",
)
.action(async (options) => {
let isContinuous = options.continuous !== undefined;
let hubs = await openConnectedExpansionHubs();
let hub = hubs[0];

runOnSigint(() => {
hub.close();
});

await temperature(hub, isContinuous);
});

program
.command("5vRailVoltage")
.option("--continuous", "Run continuously")
.description(
"Read the current 5V rail voltage. Specify --continuous to run continuously",
)
.action(async (options) => {
let isContinuous = options.continuous !== undefined;
let hubs = await openConnectedExpansionHubs();
let hub = hubs[0];
await temperature(hub, isContinuous);

runOnSigint(() => {
hub.close();
});

await voltageRail(hub, isContinuous);
hub.close();
});

program
let batteryCommand = program
.command("battery")
.description("Get information about the battery");

batteryCommand
.command("voltage")
.option("--continuous", "Run continuously")
.description(
"Read the current 5V rail voltage. Specify --continuous to run continuously",
"Read the current battery voltage. Specify --continuous to run continuously",
)
.action(async (options) => {
let isContinuous = options.continuous !== undefined;
let hubs = await openConnectedExpansionHubs();
let hub = hubs[0];

runOnSigint(() => {
hub.close();
});

await batteryVoltage(hub, isContinuous);
hub.close();
});

batteryCommand
.command("current")
.option("--continuous", "Run continuously")
.description("Read the battery current. Specify --continuous to run continuously")
.action(async (options) => {
let isContinuous = options.continuous !== undefined;
let hubs = await openConnectedExpansionHubs();
let hub = hubs[0];
await voltageRail(hub, isContinuous);

runOnSigint(() => {
hub.close();
});

await batteryCurrent(hub, isContinuous);
hub.close();
});

program
.command("battery")
.command("i2c-current")
.option("--continuous", "Run continuously")
.description(
"Read the current battery Voltage. Specify --continuous to run continuously",
"Read the I2C sub-system current. Specify --continuous to run continuously",
)
.action(async (options) => {
let isContinuous = options.continuous !== undefined;
let hubs = await openConnectedExpansionHubs();
let hub = hubs[0];

runOnSigint(() => {
hub.close();
});

await i2cCurrent(hub, isContinuous);
hub.close();
});

program
.command("digital-current")
.option("--continuous", "Run continuously")
.description("Read the digital bus current. Specify --continuous to run continuously")
.action(async (options) => {
let hubs = await openConnectedExpansionHubs();
let hub = hubs[0];
let isContinuous = options.continuous !== undefined;

runOnSigint(() => {
hub.close();
});

await digitalBusCurrent(hub, isContinuous);
hub.close();
});

program
.command("servo-current")
.option("--continuous", "Run continuously")
.description(
"Read the total current through all servos. Specify --continuous to run continuously",
)
.action(async (options) => {
let hubs = await openConnectedExpansionHubs();
let hub = hubs[0];
await battery(hub, isContinuous);
let isContinuous = options.continuous !== undefined;

runOnSigint(() => {
hub.close();
});

await servoCurrent(hub, isContinuous);
hub.close();
});

program
.command("servo <channel> <pulseWidth> [frameWidth]")
.description("Run a servo with pulse width and optional frame width")
.action(async (channel, pulseWidth, frameWidth) => {
runOnSigint(async () => {
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I moved these because the hub wasn't semantically declared before this. It's very unlikely to cause any issues (unless we get a sigint before it finishes opening the hub).

await hub.setServoEnable(channelValue, false);
hub.close();
});

let channelValue = Number(channel);
let pulseWidthValue = Number(pulseWidth);
let frameWidthValue = frameWidth ? Number(frameWidth) : 4000;
let hubs = await openConnectedExpansionHubs();
let hub = hubs[0];

runOnSigint(async () => {
await hub.setServoEnable(channelValue, false);
hub.close();
});

await runServo(hub, channelValue, pulseWidthValue, frameWidthValue);
});

Expand Down