pamoja for TypeScript - v0.2.0
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    Class SafetyGate

    The gate every motion command passes through: an e-stop, a watchdog, and limits.

    Index
    constructor
    isStopped
    command engageEstop feed resetEstop

    • Creates a gate from limits, copied as they stand, and a watchdog timeout.

      Parameters

      • limits: Limits
      • watchdogTimeout: number

      Returns SafetyGate

    • get isStopped(): boolean

      Whether the gate is forcing a stop: its e-stop is engaged or its watchdog expired.

      Returns boolean

    • Returns the command that is safe to drive: a zero twist while stopped, otherwise desired bounded by the limits.

      Parameters

      • desired: Twist
      • dt: number

      Returns Twist

    • Engages the latching e-stop.

      Returns void

    • Feeds the watchdog; call it whenever a fresh command arrives.

      Returns void

    • Clears the e-stop.

      Returns void

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