fix method names and remove call to removed method

REVrobotics · Aug 3, 2023 · 6176c3b · 6176c3b
1 parent 0f2451c
commit 6176c3b
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Showing 3 changed files with 26 additions and 19 deletions.
diff --git a/packages/control-hub/src/internal/ControlHub.ts b/packages/control-hub/src/internal/ControlHub.ts
@@ -236,7 +236,7 @@ export class ControlHubInternal implements ControlHub {
     }
 
     async getDigitalAllInputs(): Promise<number> {
-        return this.embedded.getDigitalAllInputs();
+        return this.embedded.getAllDigitalInputs();
     }
 
     async getDigitalDirection(dioPin: number): Promise<DigitalChannelDirection> {
@@ -409,15 +409,15 @@ export class ControlHubInternal implements ControlHub {
     }
 
     async setDigitalAllOutputs(bitPackedField: number): Promise<void> {
-        return this.embedded.setDigitalAllOutputs(bitPackedField);
+        return this.embedded.setAllDigitalOutputs(bitPackedField);
     }
 
     async setDigitalDirection(dioPin: number, direction: DigitalChannelDirection): Promise<void> {
         return this.embedded.setDigitalDirection(dioPin, direction);
     }
 
     async setDigitalSingleOutput(dioPin: number, value: DigitalState): Promise<void> {
-        return this.embedded.setDigitalSingleOutput(dioPin, value);
+        return this.embedded.setDigitalOutput(dioPin, value);
     }
 
     async setFTDIResetControl(ftdiResetControl: boolean): Promise<void> {

diff --git a/packages/control-hub/src/internal/ControlHubConnectedExpansionHub.ts b/packages/control-hub/src/internal/ControlHubConnectedExpansionHub.ts
@@ -9,10 +9,10 @@ import {
     I2CWriteStatus,
     LedPattern,
     ModuleInterface,
-    ModuleStatus,
+    ModuleStatus, MotorMode,
     ParentExpansionHub,
     ParentRevHub,
-    PidCoefficients,
+    PidCoefficients, PidfCoefficients,
     RevHub,
     RevHubType,
     Rgb,
@@ -142,7 +142,7 @@ export class ControlHubConnectedExpansionHub implements ParentExpansionHub {
         };
     }
 
-    async getDigitalAllInputs(): Promise<number> {
+    async getAllDigitalInputs(): Promise<number> {
         return await this.sendCommand("getAllDigitalInputs", {
             hId: this.id,
         });
@@ -449,7 +449,7 @@ export class ControlHubConnectedExpansionHub implements ParentExpansionHub {
         });
     }
 
-    async setDigitalAllOutputs(bitPackedField: number): Promise<void> {
+    async setAllDigitalOutputs(bitPackedField: number): Promise<void> {
         await this.sendCommand("readVersionString", {
             hId: this.id,
             bf: bitPackedField,
@@ -464,7 +464,7 @@ export class ControlHubConnectedExpansionHub implements ParentExpansionHub {
         });
     }
 
-    async setDigitalSingleOutput(dioPin: number, value: DigitalState): Promise<void> {
+    async setDigitalOutput(dioPin: number, value: DigitalState): Promise<void> {
         await this.sendCommand("readVersionString", {
             hId: this.id,
             c: dioPin,
@@ -680,4 +680,19 @@ export class ControlHubConnectedExpansionHub implements ParentExpansionHub {
 
         return newHub;
     }
+
+    getMotorClosedLoopControlCoefficients(motorChannel: number, motorMode: MotorMode): Promise<PidfCoefficients | PidCoefficients> {
+        return this.getMotorPIDCoefficients(motorChannel, motorMode);
+    }
+
+
+    async setMotorClosedLoopControlCoefficients(
+        motorChannel: number,
+        motorMode: MotorMode,
+        algorithm: ClosedLoopControlAlgorithm,
+        pid: PidCoefficients | PidfCoefficients,
+    ): Promise<void> {
+        //Todo(landry): handle pidf
+        await this.setMotorPIDCoefficients(motorChannel, motorMode, pid as PidCoefficients);
+    }
 }
diff --git a/packages/sample/src/command/list.ts b/packages/sample/src/command/list.ts
@@ -1,24 +1,16 @@
 import { openConnectedExpansionHubs } from "@rev-robotics/expansion-hub";
 import { controlHubHierarchyToString } from "../HubStringify.js";
-import {
-    openConnectedControlHub, openUsbControlHubsAndChildren,
-} from "@rev-robotics/control-hub";
-import { ExpansionHub } from "@rev-robotics/rev-hub-core";
+import {ControlHub, ExpansionHub} from "@rev-robotics/rev-hub-core";
+import {openUsbControlHubs} from "../adb-setup.js";
 
 export async function list() {
-    let usbControlHubs = await openUsbControlHubsAndChildren();
+    let usbControlHubs = await openUsbControlHubs();
     for (const hub of usbControlHubs) {
         let hierarchy = controlHubHierarchyToString(hub);
         console.log(hierarchy);
         hub.close();
     }
 
-    const controlHub = await openConnectedControlHub();
-    if (controlHub) {
-        console.log(`WiFi Control Hub: ${controlHub.moduleAddress}\n\n`);
-        controlHub.close();
-    }
-
     const hubs: ExpansionHub[] = await openConnectedExpansionHubs();
     for (const hub of hubs) {
         hub.on("error", (e: any) => {