import {Transport, MRCL, MRIL, MRCP, protocolDefinitions as pd } from 'mrcl'

const trans = new Transport.Serial({port:'/dev/tty', baud: 3600})
const mrcl = new MRCL(trans)

const moveInstruction = new MRIL('M00 X10 Y-10 Z 15 A0 B-3.1 C3.1')
const command1 = new MRCP(pd.MRCP.QUEUE, moveInstruction)

const getPosInstruction = new MRIL('X Y Z A B C')
const command2 = new MRCP(pd.MRCP.EXECUTE, getPosInstruction)


mrcl.send(command1)
mrcl.send(command2)

import {Transport, MRCL, MRIL, MRCP, protocolDefinitions as pd } from 'mrcl'

const trans = new Transport.Serial({port:'/dev/tty', baud: 3600})
const mrcl = new MRCL(trans)

// read file and send to robot
for ( const line of fs.readLinesOfFile('./prog1.mril')){
  const mril = new MRIL(line)
  const cmd = new MRCP(pd.MRCP.QUEUE, mril)
  mrcl.send(cmd)
}

import {MRIB, Transport} from 'mrcl'

const trans = new Transport.Serial({port:'/dev/tty', baud: 3600})
const mrib = new MRIB(trans)

mrib.queue() // queue in. execute(). write().
    .setVelocity(15)
    .moveLinear(10, 10, 15, 3.1, 0, -3.1)
    .moveX(15, ()=>console.log('moved to X 15'))
    .moveP2P(20, 5, 0)
    .moveRelativeX(1)

{
port: '', // serial port
baudRate: 3600,
}

const mril = new MRIL("X15 Y-10 Z5")

mril.on('executed', ()=>console.log('executed'))

const mrcp = new MRCP(protocol.MRCP.WRITE, mril)

const mrcl = new MRCL(transport)

{
  autoTransmit: true, // default true. If false, call mrcl.transmit() to start sending
}