packages/feetech.js/index.d.ts

export type ConnectionOptions = {
	baudRate?: number;
	protocolEnd?: number;
};

export type ServoPositions = Map<number, number> | Record<number, number>;
export type ServoSpeeds = Map<number, number> | Record<number, number>; // New type alias for speeds

export interface ScsServoSDK {
	connect(options?: ConnectionOptions): Promise<true>;
	disconnect(): Promise<true>;
	readPosition(servoId: number): Promise<number>;
	readBaudRate(servoId: number): Promise<number>;
	readMode(servoId: number): Promise<number>;
	writePosition(servoId: number, position: number): Promise<"success">;
	writeTorqueEnable(servoId: number, enable: boolean): Promise<"success">;
	writeAcceleration(servoId: number, acceleration: number): Promise<"success">;
	setWheelMode(servoId: number): Promise<"success">;
	setPositionMode(servoId: number): Promise<"success">;
	writeWheelSpeed(servoId: number, speed: number): Promise<"success">;
	syncReadPositions(servoIds: number[]): Promise<Map<number, number>>;
	syncWritePositions(servoPositions: ServoPositions): Promise<"success">;
	syncWriteWheelSpeed(servoSpeeds: ServoSpeeds): Promise<"success">; // Add syncWriteWheelSpeed definition
	setBaudRate(servoId: number, baudRateIndex: number): Promise<"success">;
	setServoId(currentServoId: number, newServoId: number): Promise<"success">;
}

export const scsServoSDK: ScsServoSDK;

export interface ScsServoSDKUnlock {
	connect(options?: ConnectionOptions): Promise<true>;
	disconnect(): Promise<true>;
	readPosition(servoId: number): Promise<number>;
	syncReadPositions(servoIds: number[]): Promise<Map<number, number>>;
}

export const scsServoSDKUnlock: ScsServoSDKUnlock;