[{"_1":2,"_3":-5,"_4":-5},"loaderData",{"_5":6,"_7":8,"_9":10},"actionData","errors","root",{"_229":230,"_231":232},"routes/_app.x.$handle.$name",{"_11":12,"_13":14,"_15":16,"_18":19,"_17":-7,"_175":-5,"_20":176,"_22":177,"_178":179,"_180":181,"_26":182,"_24":183,"_184":-5,"_185":-5,"_186":51,"_187":188,"_189":43,"_190":-5,"_191":-5,"_192":193},"routes/_app.x.$handle.$name.branch.$branch.code.$",{"_11":12,"_13":14,"_15":16,"_17":-7,"_18":19,"_20":21,"_22":23,"_24":25,"_26":27,"_28":-5,"_29":-5,"_30":-5,"_31":-5,"_32":-5},"handle","pchinjr","name","dj-salad-spinner","branchName","main","version","path","about.html","project",{"_33":121,"_13":14,"_44":122,"_123":-5,"_124":51,"_125":126,"_127":126,"_128":129,"_130":-5,"_131":132,"_133":62,"_134":43,"_135":-5,"_136":-5,"_137":107,"_138":139,"_140":-5,"_141":-5,"_142":-5,"_143":-5,"_144":145,"_146":145,"_147":148,"_149":148,"_150":148,"_151":145,"_152":145,"_153":154,"_155":156,"_157":158,"_159":51},"tree",[54,55,56,57,58,59],"file",{"_33":34,"_13":19,"_35":36,"_37":-5,"_38":39,"_40":41,"_42":43,"_44":45,"_17":46,"_47":24,"_48":49,"_50":51,"_52":-5,"_18":53},"contents",[],"upstream","pull","ahead","behind","envVars","id","93b3060a-de5a-4748-a551-ef77584e1fdd","fileId","58aee9b0-a0e8-11f1-9615-1607ee4eb77e","parentId","branchId","fa7d3db0-d041-421d-bc20-a86a374ec263","branchVersion",69,"latest",true,"createdAt",["D",1787706270813],5,"fileType","content","\n\n \n \n \n \n About the DJ Salad Spinner\n \n \n \n \n

\n \n\n

A salad spinner can be a DJ controller

\n This project turns an ordinary IKEA salad spinner into a physical\n music controller. Crank the bowl and the song plays. Stop the bowl and\n the song stops. No soldering, breadboard, or custom Arduino program is\n required. You do not need prior electronics or robotics experience to\n follow this explanation.\n

\n\n

What is hardware hacking?

\n Hardware hacking means taking an everyday object and giving it a new\n behavior with electronics and code. Here, the salad spinner still\n spins salad—but a magnet, a sensor, and an Arduino let a web page\n notice that motion.\n

\n Nothing is being broken into. “Hacking” means experimenting, adapting,\n and understanding how parts can work together.\n

\n\n

The whole idea in five steps

\n A small magnet travels around with the spinner’s rotating bowl.\n
\n A Hall-effect sensor notices whenever the magnet passes nearby.\n
\n An Arduino turns that sensor change into data the computer can read.\n
\n Johnny-Five gives JavaScript a friendly way to work with the\n Arduino.\n
\n The browser estimates the spinner’s speed and chooses a music\n playback rate.\n

\n\n

The parts

\n You need an Arduino Uno, a 49E/LM393 Hall sensor module, one magnet,\n three jumper wires, a standard USB cable, and the salad spinner. The\n parts connect directly—there is no breadboard.\n

\n \n

\n Red supplies 5 volts, black is ground, and yellow carries the\n sensor’s digital signal to Arduino pin 9.\n

\n \n

\n\n

Beginner safety

Unplug the Arduino before moving wires.
Double-check 5V and GND before reconnecting USB.
Secure the magnet so it cannot fly loose while spinning.
Keep loose wires away from the rotating bowl.
\n This project uses the Arduino’s low-voltage 5V power—not household\n electricity.\n

\n\n

What does Johnny-Five do?

\n Johnny-Five is a JavaScript library for robotics and electronics. It\n gives hardware familiar JavaScript concepts such as objects, events,\n and callbacks. Instead of writing a full embedded program for every\n interaction, JavaScript can listen for changes on an Arduino pin.\n

\nboard.io.pinMode(9, board.io.MODES.INPUT);\n\nboard.io.digitalRead(9, value => {\n  if (value === 0) {\n    // The magnet passed the sensor.\n  }\n});

\n This project runs a browser-compatible version of Johnny-Five and\n communicates over Web Serial. The Arduino runs StandardFirmataPlus, a\n general-purpose firmware that lets the browser configure and read its\n pins.\n

\n\n

How does the app know the speed?

\n Each magnet pass is one pulse. The app counts accepted pulses from the\n previous second and multiplies by 60 to estimate revolutions per\n minute. Very fast duplicate pulses are ignored because the physical\n sensor can occasionally blink twice during one pass.\n

\n The result selects one of three adjustable music speeds: half speed,\n normal speed, or double speed. If another pulse does not arrive\n quickly, the app pauses the music and freezes the illustrated record\n exactly where it stopped.\n

\n\n

Quick glossary

Arduino: \n A small programmable board that connects electronic parts to a\n computer.\n
Hall-effect sensor: \n An electronic part that detects a nearby magnetic field without\n touching the magnet.\n
Digital pin: \n An Arduino connection that reads a simple on-or-off electrical\n signal.\n
Firmata: \n The general-purpose Arduino firmware that lets software on the\n computer read and control pins.\n
Web Serial: \n A browser feature that lets a web page communicate with an\n authorized USB serial device.\n
Johnny-Five: \n A JavaScript library that provides approachable APIs for robotics\n and electronics.\n

\n\n

Try changing one thing

\n Hardware hacking becomes approachable when you change one variable at\n a time. Move the sensor slightly, adjust its potentiometer, or change\n an RPM threshold in the Speed bands panel. Observe what changes, then\n keep notes.\n

\n When you want the implementation details, wiring notes,\n troubleshooting, and complete algorithm, continue to the\n technical README.\n

\n\n \n

\n \n \n","deleted",false,"label",[19],{"_33":102,"_13":103,"_35":104,"_37":-5,"_38":39,"_40":105,"_42":43,"_44":106,"_17":107,"_47":108,"_48":-5,"_50":51,"_52":-5,"_69":109,"_18":110},{"_33":94,"_13":95,"_35":96,"_37":-5,"_38":39,"_40":97,"_42":43,"_44":98,"_17":65,"_47":24,"_48":99,"_50":51,"_52":-5,"_69":100,"_18":101},{"_33":34,"_13":19,"_35":36,"_37":-5,"_38":39,"_40":41,"_42":43,"_44":91,"_17":46,"_47":24,"_48":49,"_50":51,"_52":-5,"_69":92,"_18":93},{"_33":81,"_13":82,"_35":83,"_37":-5,"_38":39,"_40":84,"_42":43,"_44":85,"_17":86,"_47":87,"_48":88,"_50":51,"_52":-5,"_69":89,"_18":90},{"_33":72,"_13":73,"_35":74,"_37":-5,"_38":39,"_40":75,"_42":43,"_44":76,"_17":77,"_47":24,"_48":78,"_50":51,"_52":-5,"_69":79,"_18":80},{"_33":60,"_13":61,"_35":62,"_37":-5,"_38":39,"_40":63,"_42":43,"_44":64,"_17":65,"_47":66,"_48":67,"_50":51,"_52":68,"_69":70,"_18":71},"15d9e21d-88df-4473-bdf6-4912690a2f3d","main.ts","a771f450-9d9d-11f1-89c9-1607ee4eb77e",67,["D",1787705590713],4,"http","import { Hono } from \"npm:hono\";\nimport { serveFile } from \"https://esm.town/v/std/utils/index.ts\";\nimport { blob } from \"https://esm.town/v/std/blob/main.ts\";\n\nconst app = new Hono();\n\napp.get(\"/\", (c) => serveFile(\"/index.html\"));\napp.get(\"/about\", (c) => serveFile(\"/about.html\"));\napp.get(\"/app.js\", (c) => serveFile(\"/app.js\"));\napp.get(\"/johnny-five-web-serial.min.js\", (c) =>\n serveFile(\"/vendor/johnny-five-web-serial.min.js\")\n);\napp.get(\"/wiring-diagram.png\", async (c) => {\n const image = await blob.get(\"wiring-diagram.png\");\n return new Response(image.body, {\n headers: {\n \"content-type\": \"image/png\",\n \"cache-control\": \"public, max-age=86400\",\n },\n });\n});\n\napp.get(\"/source\", (c) =>\n c.redirect(\"https://www.val.town/x/pchinjr/dj-salad-spinner\")\n);\n\nexport default app.fetch;\n","djsally","children",[],[61],"92334c79-e8db-4d9a-9171-9d87b67d6d71","index.html","362ec592-9d9e-11f1-9a61-1607ee4eb77e",68,["D",1787705601573],13,"\n\n \n \n \n DJ Salad Spinner\n \n \n \n

DJ Salad Spinner

PRAISE
CAGE

\n Speed0 RPM\n

\n Playback0.00×\n

\n \n

Hall Effect sensor OUT → Arduino pin 9

\n \n \n

\n \n Speed bands\n \n \n Connection debug\n \n

\n\n \n

\n Whole-speed band starts at RPM\n \n\n Double speed above RPM\n \n\n Lower-band playback rate\n \n\n Middle-band playback rate\n \n\n Upper-band playback rate\n \n

\n \n \n

\n \n\n \n

Waiting to connect…

\n \n

\n \n \n \n \n",[],[73],"c95a0db0-43e2-470d-a8e6-9fad3f31d2f5","app.js","369c6124-9d9e-11f1-9cd3-1607ee4eb77e",53,["D",1787626907000],37,"script","\"use strict\";\n\nconst connectButton = document.querySelector(\"#connect\");\nconst statusElement = document.querySelector(\"#status\");\nconst logElement = document.querySelector(\"#log\");\nconst rpmElement = document.querySelector(\"#rpm\");\nconst rateElement = document.querySelector(\"#rate\");\nconst platter = document.querySelector(\"#platter\");\nconst audio = document.querySelector(\"#audio\");\n\nconst wholeMinInput = document.querySelector(\"#whole-min\");\nconst doubleAboveInput = document.querySelector(\"#double-above\");\nconst halfRateInput = document.querySelector(\"#half-rate\");\nconst wholeRateInput = document.querySelector(\"#whole-rate\");\nconst doubleRateInput = document.querySelector(\"#double-rate\");\nconst applyBandsButton = document.querySelector(\"#apply-bands\");\nconst resetBandsButton = document.querySelector(\"#reset-bands\");\nconst bandStatusElement = document.querySelector(\"#band-status\");\nconst speedTab = document.querySelector(\"#speed-tab\");\nconst debugTab = document.querySelector(\"#debug-tab\");\nconst speedPanel = document.querySelector(\"#speed-panel\");\nconst debugPanel = document.querySelector(\"#debug-panel\");\n\nconst DEFAULT_BANDS = {\n wholeMin: 300,\n doubleAbove: 400,\n halfRate: 0.5,\n wholeRate: 1,\n doubleRate: 2,\n};\nconst bandsKey = \"dj-salad-spinner:speed-bands-v1\";\n\nlet bands = loadBands();\nlet pulseTimestamps = [];\nlet lastAcceptedPulseAt = 0;\nlet rpmTimer = 0;\nlet stopTimer = 0;\nlet currentBoard = null;\nlet currentRpm = 0;\n\nshowBandSettings();\n\nfunction selectPanel(panelName) {\n const showSpeed = panelName === \"speed\";\n speedPanel.hidden = !showSpeed;\n debugPanel.hidden = showSpeed;\n speedTab.classList.toggle(\"active\", showSpeed);\n debugTab.classList.toggle(\"active\", !showSpeed);\n speedTab.setAttribute(\"aria-selected\", String(showSpeed));\n debugTab.setAttribute(\"aria-selected\", String(!showSpeed));\n}\n\nspeedTab.addEventListener(\"click\", () => selectPanel(\"speed\"));\ndebugTab.addEventListener(\"click\", () => selectPanel(\"debug\"));\n\nfunction loadBands() {\n try {\n const saved = JSON.parse(localStorage.getItem(bandsKey));\n return saved && Number.isFinite(saved.wholeMin)\n ? { ...DEFAULT_BANDS, ...saved }\n : { ...DEFAULT_BANDS };\n } catch (_) {\n return { ...DEFAULT_BANDS };\n }\n}\n\nfunction clamp(value, min, max) {\n return Math.min(max, Math.max(min, value));\n}\n\nfunction rateForRpm(rpm) {\n if (rpm <= 0) return 0;\n if (rpm < bands.wholeMin) return bands.halfRate;\n if (rpm <= bands.doubleAbove) return bands.wholeRate;\n return bands.doubleRate;\n}\n\nfunction describeBands() {\n bandStatusElement.textContent =\n \"1–\" + (bands.wholeMin - 1) + \" RPM → \" +\n bands.halfRate.toFixed(2) + \"× · \" +\n bands.wholeMin + \"–\" + bands.doubleAbove + \" RPM → \" +\n bands.wholeRate.toFixed(2) + \"× · above \" +\n bands.doubleAbove + \" RPM → \" +\n bands.doubleRate.toFixed(2) + \"×\";\n}\n\nfunction showBandSettings() {\n wholeMinInput.value = bands.wholeMin;\n doubleAboveInput.value = bands.doubleAbove;\n halfRateInput.value = bands.halfRate;\n wholeRateInput.value = bands.wholeRate;\n doubleRateInput.value = bands.doubleRate;\n describeBands();\n}\n\nfunction setSpeed(rpm) {\n currentRpm = rpm;\n const rate = rateForRpm(rpm);\n\n rpmElement.textContent = Math.round(rpm);\n rateElement.textContent = rate.toFixed(2);\n platter.classList.toggle(\"spinning\", rpm > 0);\n\n if (rpm > 0) {\n audio.playbackRate = clamp(rate, 0.25, 2);\n if (audio.paused) {\n audio.play().catch(error => {\n statusElement.textContent =\n \"Press play once to enable audio: \" + error.message;\n });\n }\n } else {\n audio.pause();\n }\n}\n\nfunction calculateTimedRpm() {\n const now = performance.now();\n pulseTimestamps = pulseTimestamps.filter(\n timestamp => now - timestamp < 1000\n );\n\n // Original timing model: pulses during one second × 60. The window rolls\n // instead of resetting, so continuous rotation cannot land in an empty bucket.\n setSpeed(pulseTimestamps.length * 60);\n}\n\nfunction stopBoardState() {\n clearInterval(rpmTimer);\n clearTimeout(stopTimer);\n rpmTimer = 0;\n stopTimer = 0;\n pulseTimestamps = [];\n lastAcceptedPulseAt = 0;\n setSpeed(0);\n}\n\napplyBandsButton.addEventListener(\"click\", () => {\n const nextBands = {\n wholeMin: Number(wholeMinInput.value),\n doubleAbove: Number(doubleAboveInput.value),\n halfRate: Number(halfRateInput.value),\n wholeRate: Number(wholeRateInput.value),\n doubleRate: Number(doubleRateInput.value),\n };\n\n const values = Object.values(nextBands);\n if (\n values.some(value => !Number.isFinite(value)) ||\n nextBands.wholeMin < 1 ||\n nextBands.doubleAbove <= nextBands.wholeMin ||\n nextBands.halfRate < 0.25 ||\n nextBands.doubleRate > 2\n ) {\n bandStatusElement.textContent =\n \"Use valid rates from 0.25× to 2×, with the upper threshold above the lower threshold.\";\n return;\n }\n\n bands = nextBands;\n localStorage.setItem(bandsKey, JSON.stringify(bands));\n describeBands();\n setSpeed(currentRpm);\n});\n\nresetBandsButton.addEventListener(\"click\", () => {\n bands = { ...DEFAULT_BANDS };\n localStorage.removeItem(bandsKey);\n showBandSettings();\n setSpeed(currentRpm);\n});\n\nwindow.addEventListener(\"pagehide\", () => {\n stopBoardState();\n if (currentBoard) currentBoard.disconnect().catch(() => {});\n});\n\nnavigator.serial?.addEventListener(\"disconnect\", () => {\n currentBoard = null;\n stopBoardState();\n statusElement.textContent =\n \"Arduino disconnected — reconnect the USB cable.\";\n connectButton.disabled = false;\n connectButton.textContent = \"Reconnect Arduino\";\n});\n\nconnectButton.addEventListener(\"click\", async () => {\n connectButton.disabled = true;\n logElement.textContent = \"\";\n\n try {\n await audio.play();\n audio.pause();\n audio.currentTime = 0;\n } catch (_) {}\n\n try {\n const five = window.JohnnyFiveWebSerial;\n const board = await five.connect({\n onStatus(phase) {\n const labels = {\n \"selecting-port\": \"Choose your Arduino USB port…\",\n \"opening-port\": \"Opening USB serial…\",\n \"firmata-handshake\": \"Talking to StandardFirmataPlus…\",\n \"johnny-five-init\": \"Starting Johnny-Five…\",\n ready: \"Connected — spin the platter!\",\n };\n statusElement.textContent = labels[phase] || phase;\n },\n onDebug(entry) {\n const detail = entry.detail === undefined\n ? \"\"\n : \" \" + (typeof entry.detail === \"string\"\n ? entry.detail\n : JSON.stringify(entry.detail));\n logElement.textContent +=\n \"[\" + entry.time + \"] \" + entry.message + detail + \"\\n\";\n logElement.scrollTop = logElement.scrollHeight;\n },\n });\n currentBoard = board;\n\n // Read pin 9 directly. Pin 13 remains unused because it shares Firmata\n // digital port 1 with the sensor and its LED writes polluted the trace.\n board.io.pinMode(9, board.io.MODES.INPUT);\n let lastDigitalValue = null;\n\n board.io.digitalRead(9, value => {\n const digitalValue = Number(value);\n if (\n !Number.isFinite(digitalValue) ||\n digitalValue === lastDigitalValue\n ) return;\n\n lastDigitalValue = digitalValue;\n if (digitalValue !== 0) return;\n\n const now = performance.now();\n\n // Collapse the occasional double blink caused by magnet misalignment.\n if (lastAcceptedPulseAt && now - lastAcceptedPulseAt < 50) return;\n\n pulseTimestamps.push(now);\n lastAcceptedPulseAt = now;\n calculateTimedRpm();\n\n clearTimeout(stopTimer);\n stopTimer = setTimeout(() => {\n pulseTimestamps = [];\n lastAcceptedPulseAt = 0;\n setSpeed(0);\n }, 225);\n });\n\n clearInterval(rpmTimer);\n clearTimeout(stopTimer);\n pulseTimestamps = [];\n lastAcceptedPulseAt = 0;\n rpmTimer = setInterval(calculateTimedRpm, 250);\n\n connectButton.textContent = \"Arduino connected\";\n statusElement.textContent =\n \"Connected — spin the platter!\";\n } catch (error) {\n stopBoardState();\n statusElement.textContent = error.message;\n logElement.textContent +=\n \"ERROR: \" + (error.stack || error.message) + \"\\n\";\n connectButton.disabled = false;\n }\n});\n",[],[82],["D",1787706270813],[],[19],"0ba2fa27-5096-4d8f-b5e5-b9fce92a580a","README.md","e5a5a05c-a0b6-11f1-9310-1607ee4eb77e",70,["D",1787706470395],"# DJ Salad Spinner\n\nA browser-based DJ controller that turns an IKEA-style salad spinner into a physical music transport. A magnet attached to the rotating bowl passes a Hall-effect sensor once per revolution. An Arduino reports those pulses through Firmata and Web Serial; the browser estimates RPM and selects an audio playback-rate band.\n\n**Live app:** https://djsally.val.run/\n\n**Original Node/Johnny-Five prototype:** https://github.com/pchinjr/sit-and-spin-music-player\n\n## What it does\n\n- Connects directly to an Arduino from a Chromium browser using Web Serial.\n- Reads a digital Hall-sensor signal on Arduino pin 9.\n- Filters the occasional double pulse caused by magnet alignment and comparator chatter.\n- Estimates RPM from pulses observed during a rolling one-second window.\n- Maps RPM into configurable half-, whole-, and double-speed playback bands.\n- Stops playback promptly when the spinner stops.\n- Preserves the record platter's visual angle while stopped and resumes from that position.\n- Stores custom speed-band settings in browser `localStorage`.\n\nA single Hall sensor measures pulse frequency but not direction. This version cannot distinguish clockwise from counterclockwise rotation and therefore cannot implement rewind.\n\n## Hardware\n\n### Components\n\n- Arduino Uno\n- 49E linear Hall-effect sensor module with LM393 comparator\n- Permanent magnet\n- Salad spinner with a rotating bowl\n- Jumper wires\n- USB cable between the Arduino and computer\n\n### Bill of materials\n\nEstimated US retail prices as of August 2026, before tax and shipping:\n\n| Part | Quantity | Estimated cost | Notes |\n| --- | ---: | ---: | --- |\n| [IKEA UPPFYLLD salad spinner](https://www.ikea.com/us/en/p/uppfylld-salad-spinner-white-00521948/) | 1 | $9.99 | The physical crank and rotating bowl. |\n| Arduino Uno Rev3 | 1 | $30–35 | A genuine Uno; compatible boards may cost less. |\n| 49E Hall sensor module with LM393 comparator | 1 | $2–6 | Use the module's digital output. |\n| Small permanent magnet | 1 | $1–3 | Mounted to the rotating bowl. |\n| Male-to-female jumper wires | 3 | $1–3 allocated | One each for 5V, ground, and digital output; normally purchased as a pack. |\n| [USB 2.0 Type-A-to-Type-B cable](https://store-usa.arduino.cc/collections/cables-wires) | 1 | $6.50 | Standard Arduino Uno USB data cable. |\n| Breadboard | 0 | $0 | Not used; the module connects directly to the Uno. |\n| **Estimated total** | | **$50–64** | Buying every component new. |\n\nIf you already own the Arduino, jumper wires, and USB cable, the spinner, sensor module, and magnet add approximately **$13–19**.\n\nPrices are estimates and may vary by seller. The IKEA US listing showed the UPPFYLLD spinner at $9.99, while Arduino listed its official USB 2.0 cable at $6.50 when this BOM was written.\n\nThe module combines two stages:\n\n1. The **49E Hall sensor** produces an analog voltage based on magnetic-field strength and polarity.\n2. The **LM393 comparator** compares that voltage with a reference voltage set by the module's potentiometer and exposes a digital output.\n\nThe potentiometer changes the comparator threshold; it does not amplify the magnet or debounce the signal.\n\n### Wiring\n\n![Fritzing wiring diagram showing the 49E LM393 Hall sensor module connected to an Arduino Uno](https://djsally.val.run/wiring-diagram.png)\n\n| Hall module | Arduino |\n| --- | --- |\n| VCC | 5V |\n| GND | GND |\n| DO / D0 | Digital pin 9 |\n| AO / A0 | Not used |\n\nUse the module's digital output, not its analog output, with the current software.\n\nArduino pin 13 is deliberately unused. Pins 9 and 13 share Firmata digital port 1; toggling an LED on pin 13 added outgoing port messages to the sensor trace and complicated input behavior. The Hall module's onboard LED already provides a physical trigger indicator.\n\n### Magnet and sensor placement\n\n- Mount the magnet so its face passes the sensitive face of the Hall sensor.\n- Keep the sensor and magnet mounts mechanically stable.\n- Start with a small gap, roughly 2–5 mm, and adjust as needed.\n- Tune the potentiometer until one physical pass produces one clean LED blink.\n- A tilted magnet or the curved path of the bowl can make the magnetic field cross the comparator threshold twice during one pass.\n\nThe observed hardware occasionally produces a sequence like:\n\n```text\nHIGH → LOW → HIGH → LOW → HIGH\n```\n\nThe second low transition may occur only a few milliseconds after the first. The software treats that as one physical pass.\n\n## Arduino firmware\n\nThe Arduino runs **StandardFirmataPlus**. The tested connection reported Firmata 2.5 at 57,600 baud.\n\nThe browser connection performs the Firmata handshake, configures pin 9 as a digital input, and subscribes to its values. No project-specific Arduino sketch is required after StandardFirmataPlus is installed.\n\n## Core algorithm\n\n### 1. Detect a magnet pass\n\nThe browser reads pin 9 directly through the Firmata I/O adapter:\n\n```js\nboard.io.pinMode(9, board.io.MODES.INPUT);\nboard.io.digitalRead(9, value => {\n // Process digital transitions.\n});\n```\n\nThe software ignores repeated reports of the same digital state and considers a transition to `LOW` a candidate magnet pass.\n\n### 2. Filter double pulses\n\nA candidate low transition is accepted only if it occurs at least 50 ms after the previous accepted pulse:\n\n```js\nif (lastAcceptedPulseAt && now - lastAcceptedPulseAt < 50) {\n return;\n}\n```\n\nThis is a refractory period. It filters the observed 3–8 ms duplicate transitions while leaving substantial room for legitimate rotations. A 50 ms minimum interval corresponds to a theoretical ceiling of 1,200 RPM, well above the spinner's observed operating range.\n\n### 3. Calculate RPM\n\nThe original prototype counted pulses for one second and multiplied the count by 60:\n\n```text\nRPM = pulses per second × 60\n```\n\nThe current app preserves that timing-based formula but uses a **rolling** one-second window. Each accepted pulse receives a `performance.now()` timestamp. Old timestamps are removed, and the remaining count is converted to RPM:\n\n```js\npulseTimestamps = pulseTimestamps.filter(\n timestamp => now - timestamp < 1000\n);\n\nconst rpm = pulseTimestamps.length * 60;\n```\n\nThe calculation runs immediately after an accepted pulse and every 250 ms. A rolling window prevents continuous rotation from appearing as alternating nonzero and zero fixed buckets.\n\nBecause the window is exactly one second, displayed RPM is quantized in 60-RPM increments: 60, 120, 180, 240, 300, 360, 420, and so on.\n\n### 4. Detect a stop\n\nEvery accepted pulse restarts a 225 ms timer. If another pulse does not arrive before it expires, the app:\n\n- Clears the pulse history.\n- Sets RPM to zero.\n- Pauses the audio.\n- Pauses the visual platter.\n\nAt observed top speed, legitimate pulses arrive roughly 130–150 ms apart, so 225 ms represents approximately one missed expected rotation. This makes the stop feel responsive rather than waiting for the full one-second RPM window to empty.\n\n### 5. Select a playback band\n\nThe default mapping is discrete:\n\n| Measured RPM | Playback rate |\n| ---: | ---: |\n| 0 | Stopped |\n| 1–299 | 0.5× |\n| 300–400 | 1× |\n| Above 400 | 2× |\n\nThe settings panel allows both thresholds and all three nonzero rates to be changed. Applied settings are saved under `dj-salad-spinner:speed-bands-v1` in browser `localStorage`.\n\nThis is deliberately a banded controller rather than a continuously variable pitch calculation. The rolling RPM measurement has 60-RPM resolution, and discrete bands produce steadier, more intentional musical behavior.\n\n## Software architecture\n\n```text\nHall module\n │ digital LOW/HIGH\n ▼\nArduino Uno + StandardFirmataPlus\n │ USB serial at 57,600 baud\n ▼\nWeb Serial transport\n │ Firmata messages\n ▼\nBrowserified Johnny-Five / Firmata adapter\n │ board.io.digitalRead(9)\n ▼\napp.js\n ├── pulse filtering\n ├── rolling RPM window\n ├── stop detection\n ├── playback-band selection\n ├── local settings\n └── platter state\n │\n ├── HTMLAudioElement\n └── DOM/CSS interface\n```\n\n### Val Town files\n\n| File | Responsibility |\n| --- | --- |\n| `main.ts` | Hono HTTP entry point; serves the HTML, client script, vendored bundle, and source redirect. |\n| `index.html` | Page structure, audio element, meters, platter, styles, speed settings, and debug UI. |\n| `app.js` | Web Serial connection, Firmata input, filtering, RPM calculation, playback control, settings, and UI state. |\n| `vendor/johnny-five-web-serial.min.js` | Browserified Johnny-Five/Firmata compatibility layer. |\n\nVal Town serves these files directly. There is no frontend bundler or build step. The browser loads:\n\n```html\n\n\n\n```\n\nThe first script reports client-side errors to Val Town logs. The vendored bundle exposes `window.JohnnyFiveWebSerial`, and `app.js` contains the application logic.\n\n### Server layer\n\n`main.ts` is intentionally small. Hono routes requests to `serveFile`:\n\n- `/` → `index.html`\n- `/app.js` → browser application code\n- `/johnny-five-web-serial.min.js` → vendored hardware library\n- `/source` → Val Town source page\n\nThe server does not proxy serial data or control the Arduino. Hardware communication occurs locally between the browser and the USB device.\n\n## Visual platter behavior\n\nThe CSS rotation animation is always attached to the platter. The app changes only `animation-play-state`:\n\n- Nonzero RPM → `running`\n- Zero RPM → `paused`\n\nPausing instead of removing the animation preserves the exact rotation angle. When spinning resumes, “PRAISE CAGE” continues from where it stopped instead of jumping back to the zero-degree position.\n\n## Browser requirements\n\n- A Chromium-based browser with Web Serial support, such as Chrome or Edge\n- A secure context\n- User interaction to select and authorize the serial port\n- User interaction to satisfy browser audio autoplay requirements\n\nThe page briefly starts and pauses the audio inside the Connect button gesture so later sensor events can control playback.\n\n## Settings and debugging\n\nThe combined control panel has two tabs:\n\n- **Speed bands** edits RPM thresholds and playback rates.\n- **Connection debug** displays Web Serial, Firmata handshake, transmit, and receive messages.\n\nSettings are local to the current browser profile. They are not stored on the Arduino or in Val Town.\n\n## Known limitations\n\n- One sensor cannot determine direction.\n- RPM resolution is 60 RPM because the algorithm counts pulses in a one-second window.\n- The 50 ms duplicate filter is fixed rather than adaptive.\n- The 225 ms stop timeout is tuned to the currently observed spinner cadence.\n- Comparator behavior depends on magnet alignment, sensor distance, potentiometer threshold, mechanical vibration, and electrical noise.\n- `HTMLMediaElement.playbackRate` changes both speed and perceived pitch according to browser behavior; this is not a time-stretching audio engine.\n\n## Troubleshooting\n\n### The module LED blinks, but the app receives nothing\n\n- Confirm `DO` is connected to Arduino pin 9.\n- Confirm StandardFirmataPlus is installed and running.\n- Reconnect the USB port from the browser.\n- Check the Connection debug tab for Firmata pin-9 messages.\n\n### One rotation is counted twice\n\n- Adjust the module potentiometer in small increments.\n- Improve magnet alignment and mount rigidity.\n- Narrow the detection zone while preserving reliable full-speed detection.\n- Compare the duplicate interval with the 50 ms software filter.\n\n### Playback stops while the spinner is still moving\n\n- Confirm legitimate pulse gaps remain below the 225 ms stop timeout.\n- Move the sensor closer or retune the threshold if some rotations are missed.\n- Inspect the debug trace for missing `LOW` transitions.\n\n### RPM seems too high\n\n- Confirm there is only one accepted low transition per physical revolution.\n- Look for duplicate blinks on the module LED.\n- Remember that readings change in 60-RPM increments.\n\n### RPM changes but playback does not behave as expected\n\n- Open Speed bands and verify the thresholds.\n- Reset the bands to restore 0.5× / 1× / 2× defaults.\n- Browser audio playback rate is clamped to the supported 0.25×–2× range.\n",[],[95],"893e1a8d-7a1d-4162-a228-df106a0a4934","vendor","161065f6-62e8-4758-9d60-0362dabb025e",2,["D",1787343776296],0,"directory",[111],[103],{"_33":112,"_13":113,"_35":114,"_37":104,"_38":39,"_40":115,"_42":43,"_44":116,"_17":117,"_47":87,"_48":118,"_50":51,"_52":-5,"_69":119,"_18":120},"52f6d23e-99fe-4721-a3f7-fb493d8e4451","johnny-five-web-serial.min.js","185031fa-9d9e-11f1-97ae-1607ee4eb77e",6,["D",1787345386559],1,"!function(t){if(\"object\"==typeof exports&&\"undefined\"!=typeof module)module.exports=t();else if(\"function\"==typeof define&&define.amd)define([],t);else{(\"undefined\"!=typeof window?window:\"undefined\"!=typeof global?global:\"undefined\"!=typeof self?self:this).JohnnyFiveWebSerial=t()}}(function(){return function t(e,i,r){function n(o,a){if(!i[o]){if(!e[o]){var l=\"function\"==typeof require&&require;if(!a&&l)return l(o,!0);if(s)return s(o,!0);var h=new Error(\"Cannot find module '\"+o+\"'\");throw h.code=\"MODULE_NOT_FOUND\",h}var c=i[o]={exports:{}};e[o][0].call(c.exports,function(t){return n(e[o][1][t]||t)},c,c.exports,t,e,i,r)}return i[o].exports}for(var s=\"function\"==typeof require&&require,o=0;o{0!==t.length&&(await l({binding:this,buffer:t}),this.writeOperation=null)}),this.writeOperation}async update(t){return await super.update(t),f(this.fd,t)}async set(t){return await super.set(t),g(this.fd,t)}async get(){return await super.get(),m(this.fd)}async getBaudRate(){return await super.get(),y(this.fd)}async drain(){return await super.drain(),await this.writeOperation,b(this.fd)}async flush(){return await super.flush(),E(this.fd)}}},{\"./legacy\":4,\"./poller\":7,\"./unix-read\":8,\"./unix-write\":9,\"@serialport/binding-abstract\":1,bindings:21,util:185}],3:[function(t,e,i){(function(i){(function(){const r=t(\"debug\")(\"serialport/bindings\");switch(i.platform){case\"win32\":r(\"loading WindowsBinding\"),e.exports=t(\"./win32\");break;case\"darwin\":r(\"loading DarwinBinding\"),e.exports=t(\"./darwin\");break;default:r(\"loading LinuxBinding\"),e.exports=t(\"./linux\")}}).call(this)}).call(this,t(\"_process\"))},{\"./darwin\":2,\"./linux\":6,\"./win32\":11,_process:158,debug:34}],4:[function(t,e,i){let r=!1;e.exports={wrapWithHiddenComName:async t=>(await t).map(t=>{const e={...t};return Object.defineProperties(e,{comName:{get:()=>(r||(r=!0,console.warn('\"PortInfo.comName\" has been deprecated. You should now use \"PortInfo.path\". The property will be removed in the next major release.')),e.path),enumerable:!1}})})}},{}],5:[function(t,e,i){const r=t(\"child_process\"),n=t(\"@serialport/parser-readline\");function s(t,e){if(\"pnpId\"===t){const t=e.match(/\\/by-id\\/([^\\s]+)/);return t&&t[1]||void 0}return\"manufacturer\"===t?e.replace(/\\\\x([a-fA-F0-9]{2})/g,(t,e)=>String.fromCharCode(parseInt(e,16))):/^0x/.test(e)?e.substr(2):e}e.exports=function(){return new Promise((t,e)=>{const i=[],o=r.spawn(\"udevadm\",[\"info\",\"-e\"]),a=o.stdout.pipe(new n);o.on(\"close\",t=>t&&e(new Error(`Error listing ports udevadm exited with error code: ${t}`))),o.on(\"error\",e),a.on(\"error\",e);let l={},h=!1;a.on(\"data\",t=>{const e=t.slice(0,1),r=t.slice(3);if(\"P\"===e)return l={manufacturer:void 0,serialNumber:void 0,pnpId:void 0,locationId:void 0,vendorId:void 0,productId:void 0},void(h=!1);var n;if(!h)if(\"N\"!==e){if(\"E\"===e){const t=r.match(/^(.+)=(.*)/);if(!t)return;const e={DEVNAME:\"path\",ID_VENDOR_ENC:\"manufacturer\",ID_SERIAL_SHORT:\"serialNumber\",ID_VENDOR_ID:\"vendorId\",ID_MODEL_ID:\"productId\",DEVLINKS:\"pnpId\"}[t[1].toUpperCase()];if(!e)return;l[e]=s(e,t[2])}}else/(tty(S|WCH|ACM|USB|AMA|MFD|O|XRUSB)|rfcomm)/.test(n=r)&&n?i.push(l):h=!0}),a.on(\"finish\",()=>t(i))})}},{\"@serialport/parser-readline\":15,child_process:24}],6:[function(t,e,i){const{promisify:r}=t(\"util\"),n=t(\"bindings\")(\"bindings.node\"),s=t(\"@serialport/binding-abstract\"),o=t(\"./linux-list\"),a=t(\"./poller\"),l=t(\"./unix-read\"),h=t(\"./unix-write\"),{wrapWithHiddenComName:c}=t(\"./legacy\"),u=Object.freeze({vmin:1,vtime:0}),d=r(n.open),p=r(n.close),f=r(n.update),g=r(n.set),m=r(n.get),y=r(n.getBaudRate),b=r(n.drain),E=r(n.flush);e.exports=class extends s{static list(){return c(o())}constructor(t={}){super(t),this.bindingOptions={...u,...t.bindingOptions},this.fd=null,this.writeOperation=null}get isOpen(){return null!==this.fd}async open(t,e){await super.open(t,e),this.openOptions={...this.bindingOptions,...e};const i=await d(t,this.openOptions);this.fd=i,this.poller=new a(i)}async close(){await super.close();const t=this.fd;return this.poller.stop(),this.poller.destroy(),this.poller=null,this.openOptions=null,this.fd=null,p(t)}async read(t,e,i){return await super.read(t,e,i),l({binding:this,buffer:t,offset:e,length:i})}async write(t){return this.writeOperation=super.write(t).then(async()=>{0!==t.length&&(await h({binding:this,buffer:t}),this.writeOperation=null)}),this.writeOperation}async update(t){return await super.update(t),f(this.fd,t)}async set(t){return await super.set(t),g(this.fd,t)}async get(){return await super.get(),m(this.fd)}async getBaudRate(){return await super.get(),y(this.fd)}async drain(){return await super.drain(),await this.writeOperation,b(this.fd)}async flush(){return await super.flush(),E(this.fd)}}},{\"./legacy\":4,\"./linux-list\":5,\"./poller\":7,\"./unix-read\":8,\"./unix-write\":9,\"@serialport/binding-abstract\":1,bindings:21,util:185}],7:[function(t,e,i){const r=t(\"debug\")(\"serialport/bindings/poller\"),n=t(\"events\"),s=t(\"bindings\")(\"bindings.node\").Poller,o={UV_READABLE:1,UV_WRITABLE:2,UV_DISCONNECT:4};function a(t,e){if(t)return r(\"error\",t),this.emit(\"readable\",t),this.emit(\"writable\",t),void this.emit(\"disconnect\",t);e&o.UV_READABLE&&(r('received \"readable\"'),this.emit(\"readable\",null)),e&o.UV_WRITABLE&&(r('received \"writable\"'),this.emit(\"writable\",null)),e&o.UV_DISCONNECT&&(r('received \"disconnect\"'),this.emit(\"disconnect\",null))}class l extends n{constructor(t,e=s){r(\"Creating poller\"),super(),this.poller=new e(t,a.bind(this))}once(t,e){switch(t){case\"readable\":this.poll(o.UV_READABLE);break;case\"writable\":this.poll(o.UV_WRITABLE);break;case\"disconnect\":this.poll(o.UV_DISCONNECT)}return super.once(t,e)}poll(t){(t=t||0)&o.UV_READABLE&&r('Polling for \"readable\"'),t&o.UV_WRITABLE&&r('Polling for \"writable\"'),t&o.UV_DISCONNECT&&r('Polling for \"disconnect\"'),this.poller.poll(t)}stop(){r(\"Stopping poller\"),this.poller.stop(),this.emitCanceled()}destroy(){r(\"Destroying poller\"),this.poller.destroy(),this.emitCanceled()}emitCanceled(){const t=new Error(\"Canceled\");t.canceled=!0,this.emit(\"readable\",t),this.emit(\"writable\",t),this.emit(\"disconnect\",t)}}l.EVENTS=o,e.exports=l},{bindings:21,debug:34,events:48}],8:[function(t,e,i){const r=t(\"fs\"),n=t(\"debug\")(\"serialport/bindings/unixRead\"),{promisify:s}=t(\"util\"),o=s(r.read),a=async({binding:t,buffer:e,offset:i,length:r,fsReadAsync:s=o})=>{if(n(\"Starting read\"),!t.isOpen){const t=new Error(\"Port is not open\");throw t.canceled=!0,t}try{const{bytesRead:o}=await s(t.fd,e,i,r,null);return 0===o?a({binding:t,buffer:e,offset:i,length:r,fsReadAsync:s}):(n(\"Finished read\",o,\"bytes\"),{bytesRead:o,buffer:e})}catch(o){if(n(\"read error\",o),\"EAGAIN\"===o.code||\"EWOULDBLOCK\"===o.code||\"EINTR\"===o.code){if(!t.isOpen){const t=new Error(\"Port is not open\");throw t.canceled=!0,t}return n(\"waiting for readable because of code:\",o.code),await(t=>new Promise((e,i)=>{t.poller.once(\"readable\",t=>t?i(t):e())}))(t),a({binding:t,buffer:e,offset:i,length:r,fsReadAsync:s})}throw(\"EBADF\"===o.code||\"ENXIO\"===o.code||\"UNKNOWN\"===o.code||-1===o.errno)&&(o.canceled=!0,n(\"disconnecting\",o)),o}};e.exports=a},{debug:34,fs:24,util:185}],9:[function(t,e,i){const r=t(\"fs\"),n=t(\"debug\")(\"serialport/bindings/unixWrite\"),{promisify:s}=t(\"util\"),o=s(r.write),a=async({binding:t,buffer:e,offset:i=0,fsWriteAsync:r=o})=>{const s=e.length-i;if(n(\"Starting write\",e.length,\"bytes offset\",i,\"bytesToWrite\",s),!t.isOpen)throw new Error(\"Port is not open\");try{const{bytesWritten:o}=await r(t.fd,e,i,s);if(n(\"write returned: wrote\",o,\"bytes\"),o+inew Promise((e,i)=>{t.poller.once(\"writable\",t=>t?i(t):e())}))(t),a({binding:t,buffer:e,offset:i,fsWriteAsync:r})}throw(\"EBADF\"===s.code||\"ENXIO\"===s.code||\"UNKNOWN\"===s.code||-1===s.errno)&&(s.disconnect=!0,n(\"disconnecting\",s)),n(\"error\",s),s}};e.exports=a},{debug:34,fs:24,util:185}],10:[function(t,e,i){const r=[/USB\\\\(?:.+)\\\\(.+)/,/FTDIBUS\\\\(?:.+)\\+(.+?)A?\\\\.+/];e.exports=function(t){if(!t)return null;for(const e of r){const i=t.match(e);if(i)return i[1]}return null}},{}],11:[function(t,e,i){const r=t(\"bindings\")(\"bindings.node\"),n=t(\"@serialport/binding-abstract\"),{promisify:s}=t(\"util\"),o=t(\"./win32-sn-parser\"),a=s(r.list),l=s(r.open),h=s(r.close),c=s(r.read),u=s(r.write),d=s(r.update),p=s(r.set),f=s(r.get),g=s(r.getBaudRate),m=s(r.drain),y=s(r.flush),{wrapWithHiddenComName:b}=t(\"./legacy\");e.exports=class extends n{static async list(){const t=await a();return b(t.map(t=>{if(t.pnpId&&!t.serialNumber){const e=o(t.pnpId);if(e)return{...t,serialNumber:e}}return t}))}constructor(t={}){super(t),this.bindingOptions={...t.bindingOptions},this.fd=null,this.writeOperation=null}get isOpen(){return null!==this.fd}async open(t,e){await super.open(t,e),this.openOptions={...this.bindingOptions,...e};const i=await l(t,this.openOptions);this.fd=i}async close(){await super.close();const t=this.fd;return this.fd=null,h(t)}async read(t,e,i){await super.read(t,e,i);try{return{bytesRead:await c(this.fd,t,e,i),buffer:t}}catch(t){throw this.isOpen||(t.canceled=!0),t}}async write(t){return this.writeOperation=super.write(t).then(async()=>{0!==t.length&&(await u(this.fd,t),this.writeOperation=null)}),this.writeOperation}async update(t){return await super.update(t),d(this.fd,t)}async set(t){return await super.set(t),p(this.fd,t)}async get(){return await super.get(),f(this.fd)}async getBaudRate(){return await super.get(),g(this.fd)}async drain(){return await super.drain(),await this.writeOperation,m(this.fd)}async flush(){return await super.flush(),y(this.fd)}}},{\"./legacy\":4,\"./win32-sn-parser\":10,\"@serialport/binding-abstract\":1,bindings:21,util:185}],12:[function(t,e,i){(function(i){(function(){const{Transform:r}=t(\"stream\");e.exports=class extends r{constructor(t={}){if(super(t),\"number\"!=typeof t.length)throw new TypeError('\"length\" is not a number');if(t.length<1)throw new TypeError('\"length\" is not greater than 0');this.length=t.length,this.position=0,this.buffer=i.alloc(this.length)}_transform(t,e,r){let n=0;for(;n0){const t=Date.now();t-this.lastByteFetchTime>this.maxDelayBetweenBytesMs&&(this.array=[],this.cursor=0),this.lastByteFetchTime=t}for(this.cursor+=t.length,Array.from(t).map(t=>this.array.push(t));this.cursor>1&&this.cursor>=this.array[1]+5;){const t=this.array[1]+5,e=i.from(this.array.slice(0,t));this.array=this.array.slice(e.length,this.array.length),this.cursor-=t,this.push(e)}r()}}}).call(this)}).call(this,t(\"buffer\").Buffer)},{buffer:25,stream:164}],14:[function(t,e,i){(function(i){(function(){const{Transform:r}=t(\"stream\");e.exports=class extends r{constructor(t={}){if(super(t),void 0===t.delimiter)throw new TypeError('\"delimiter\" is not a bufferable object');if(0===t.delimiter.length)throw new TypeError('\"delimiter\" has a 0 or undefined length');this.includeDelimiter=void 0!==t.includeDelimiter&&t.includeDelimiter,this.delimiter=i.from(t.delimiter),this.buffer=i.alloc(0)}_transform(t,e,r){let n,s=i.concat([this.buffer,t]);for(;-1!==(n=s.indexOf(this.delimiter));)this.push(s.slice(0,n+(this.includeDelimiter?this.delimiter.length:0))),s=s.slice(n+this.delimiter.length);this.buffer=s,r()}_flush(t){this.push(this.buffer),this.buffer=i.alloc(0),t()}}}).call(this)}).call(this,t(\"buffer\").Buffer)},{buffer:25,stream:164}],15:[function(t,e,i){(function(i){(function(){const r=t(\"@serialport/parser-delimiter\");e.exports=class extends r{constructor(t){const e={delimiter:i.from(\"\\n\",\"utf8\"),encoding:\"utf8\",...t};\"string\"==typeof e.delimiter&&(e.delimiter=i.from(e.delimiter,e.encoding)),super(e)}}}).call(this)}).call(this,t(\"buffer\").Buffer)},{\"@serialport/parser-delimiter\":14,buffer:25}],16:[function(t,e,i){(function(i){(function(){const{Transform:r}=t(\"stream\");e.exports=class extends r{constructor(t={}){if(void 0===t.delimiter)throw new TypeError('\"delimiter\" is not a bufferable object');if(0===t.delimiter.length)throw new TypeError('\"delimiter\" has a 0 or undefined length');super(t),this.delimiter=i.from(t.delimiter),this.readOffset=0,this.ready=!1}_transform(t,e,i){if(this.ready)return this.push(t),i();const r=this.delimiter;let n=0;for(;this.readOffset0&&this.push(e)}i()}}}).call(this)}).call(this,t(\"buffer\").Buffer)},{buffer:25,stream:164}],17:[function(t,e,i){const{Transform:r}=t(\"stream\");e.exports=class extends r{constructor(t){const e={encoding:\"utf8\",...t};if(void 0===e.regex)throw new TypeError('\"options.regex\" must be a regular expression pattern or object');e.regex instanceof RegExp||(e.regex=new RegExp(e.regex)),super(e),this.regex=e.regex,this.data=\"\"}_transform(t,e,i){const r=(this.data+t).split(this.regex);this.data=r.pop(),r.forEach(t=>{this.push(t)}),i()}_flush(t){this.push(this.data),this.data=\"\",t()}}},{stream:164}],18:[function(t,e,i){(function(i,r){(function(){const n=t(\"stream\"),s=t(\"util\"),o=t(\"debug\")(\"serialport/stream\"),a=Object.freeze([5,6,7,8]),l=Object.freeze([1,1.5,2]),h=Object.freeze([\"none\",\"even\",\"mark\",\"odd\",\"space\"]),c=Object.freeze([\"xon\",\"xoff\",\"xany\",\"rtscts\"]),u=Object.freeze({autoOpen:!0,endOnClose:!1,baudRate:9600,dataBits:8,hupcl:!0,lock:!0,parity:\"none\",rtscts:!1,stopBits:1,xany:!1,xoff:!1,xon:!1,highWaterMark:65536}),d=Object.freeze({brk:!1,cts:!1,dtr:!0,dts:!1,rts:!0});function p(t){const e=r.allocUnsafe(t);return e.used=0,e}function f(t,e,i){if(!(this instanceof f))return new f(t,e,i);e instanceof Function&&(i=e,e={});const r={...u,...e};n.Duplex.call(this,{highWaterMark:r.highWaterMark});const s=r.binding||f.Binding;if(!s)throw new TypeError('\"Bindings\" is invalid pass it as `options.binding` or set it on `SerialPort.Binding`');if(!t)throw new TypeError(`\"path\" is not defined: ${t}`);if(r.baudrate)throw new TypeError('\"baudrate\" is an unknown option, did you mean \"baudRate\"?');if(\"number\"!=typeof r.baudRate)throw new TypeError(`\"baudRate\" must be a number: ${r.baudRate}`);if(-1===a.indexOf(r.dataBits))throw new TypeError(`\"databits\" is invalid: ${r.dataBits}`);if(-1===l.indexOf(r.stopBits))throw new TypeError(`\"stopbits\" is invalid: ${r.stopbits}`);if(-1===h.indexOf(r.parity))throw new TypeError(`\"parity\" is invalid: ${r.parity}`);c.forEach(t=>{if(\"boolean\"!=typeof r[t])throw new TypeError(`\"${t}\" is not boolean: ${r[t]}`)});const o=new s({bindingOptions:r.bindingOptions});Object.defineProperties(this,{binding:{enumerable:!0,value:o},path:{enumerable:!0,value:t},settings:{enumerable:!0,value:r}}),this.opening=!1,this.closing=!1,this._pool=p(this.settings.highWaterMark),this._kMinPoolSpace=128,this.settings.autoOpen&&this.open(i)}s.inherits(f,n.Duplex),Object.defineProperties(f.prototype,{isOpen:{enumerable:!0,get(){return this.binding.isOpen&&!this.closing}},baudRate:{enumerable:!0,get(){return this.settings.baudRate}}}),f.prototype._error=function(t,e){e?e.call(this,t):this.emit(\"error\",t)},f.prototype._asyncError=function(t,e){i.nextTick(()=>this._error(t,e))},f.prototype.open=function(t){return this.isOpen?this._asyncError(new Error(\"Port is already open\"),t):this.opening?this._asyncError(new Error(\"Port is opening\"),t):(this.opening=!0,o(\"opening\",`path: ${this.path}`),void this.binding.open(this.path,this.settings).then(()=>{o(\"opened\",`path: ${this.path}`),this.opening=!1,this.emit(\"open\"),t&&t.call(this,null)},e=>{this.opening=!1,o(\"Binding #open had an error\",e),this._error(e,t)}))},f.prototype.update=function(t,e){if(\"object\"!=typeof t)throw TypeError('\"options\" is not an object');if(!this.isOpen)return o(\"update attempted, but port is not open\"),this._asyncError(new Error(\"Port is not open\"),e);const i={...u,...t};this.settings.baudRate=i.baudRate,o(\"update\",`baudRate: 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n=8*e+r,s=t.pins[n],o=1<>(7&r)&1,s.value?t.ports[e]|=o:t.ports[e]&=~o;let{value:a}=s;t.emit(`digital-read-${n}`,a),t.emit(\"digital-read\",{pin:n,value:a})}}}},P={[R](t){const e=t.buffer.length-2,i=r.alloc(Math.round((e-4)/2));let n=0,s=0;for(let r=4;rt.MODES[e]);let i,r,n=0;function s(t){return e.reduce((e,i)=>(t&1<6&&(t.pins[e].state|=t.buffer[5]<<7),t.buffer.length>7&&(t.pins[e].state|=t.buffer[6]<<14),t.emit(`pin-state-${e}`)},[l](t){let e,i=0;for(let r=2;r{t&&t.disconnect&&t.disconnected?this.emit(\"disconnect\"):this.emit(\"close\")}),this.transport.on(\"open\",t=>{this.emit(\"open\",t),this.emit(\"connect\",t)}),this.transport.on(\"error\",t=>{this.isReady||\"function\"!=typeof i?this.emit(\"error\",t):i(t)}),this.transport.on(\"data\",t=>{for(let e=0;e0){let i=t[e];i>127&&(this.buffer.length=0,this.buffer.push(i))}else if(r!==T){let t=r{!1===this.versionReceived&&(this.reportVersion(function(){}),this.queryFirmware(function(){}))},n.reportVersionTimeout),this.once(\"reportversion\",()=>{clearTimeout(this.reportVersionTimeoutId),this.versionReceived=!0,this.once(\"queryfirmware\",()=>{if(void 0!==e.samplingInterval&&this.setSamplingInterval(e.samplingInterval),n.skipCapabilities){if(this.analogPins=n.analogPins||this.analogPins,this.pins=n.pins||this.pins,!this.pins.length)for(var t=0;t<(n.pinCount||128);t++){var i=this.analogPins.indexOf(t);i<0&&(i=127),this.pins.push({supportedModes:[],analogChannel:i})}this.RESOLUTION.ADC=1023,this.RESOLUTION.PWM=255,s()}else this.queryCapabilities(()=>{this.queryAnalogMapping(s)})})})}reportVersion(t){this.once(\"reportversion\",t),L(this,[S])}queryFirmware(t){this.once(\"queryfirmware\",t),L(this,[T,121,d])}analogRead(t,e){this.reportAnalogPin(t,1),this.addListener(`analog-read-${t}`,e)}pwmWrite(t,e){let i;this.pins[t].value=e,t>15?(i=[T,111,t,127&e,e>>7&127],e>16384&&(i[i.length]=e>>14&127),e>2097152&&(i[i.length]=e>>21&127),e>268435456&&(i[i.length]=e>>28&127),i[i.length]=d):i=[224|t,127&e,e>>7&127],L(this,i)}servoConfig(t,e,i){if(\"object\"==typeof t&&null!==t){let r=t;t=r.pin,e=r.min,i=r.max}if(void 0===t)throw new Error(\"servoConfig: pin must be specified\");if(void 0===e)throw new Error(\"servoConfig: min must be specified\");if(void 0===i)throw new Error(\"servoConfig: max must be specified\");this.pins[t].mode=this.MODES.SERVO,L(this,[T,112,t,127&e,e>>7&127,127&i,i>>7&127,d])}servoWrite(...t){this.analogWrite(...t)}pinMode(t,e){e===this.MODES.ANALOG?this.pins[this.analogPins[t]].mode=e:(this.pins[t].mode=e,L(this,[244,t,e]))}digitalWrite(t,e,i){let r=this.updateDigitalPort(t,e);i?this.digitalPortQueue|=1<>3,r=1<<(7&t);return this.pins[t].value=e,e?this.ports[i]|=r:this.ports[i]&=~r,i}flushDigitalPorts(){for(let t=0;t>t&&this.writeDigitalPort(t);this.digitalPortQueue=0}writeDigitalPort(t){L(this,[144|t,127&this.ports[t],this.ports[t]>>7&127])}digitalRead(t,e){this.reportDigitalPin(t,1),this.addListener(`digital-read-${t}`,e)}queryCapabilities(t){this.once(\"capability-query\",t),L(this,[T,107,d])}queryAnalogMapping(t){this.once(\"analog-mapping-query\",t),L(this,[T,105,d])}queryPinState(t,e){this.once(`pin-state-${t}`,e),L(this,[T,109,t,d])}sendString(t){const e=r.from(`${t}\\0`,\"utf8\"),i=[];i.push(T,113);for(let t=0,r=e.length;t>7&127);i.push(d),L(this,i)}sendI2CConfig(t){return this.i2cConfig(t)}i2cConfig(t){let e,i=a.get(this);return i||(i={},a.set(this,i)),\"number\"==typeof t?e=t:\"object\"==typeof t&&null!==t&&(e=Number(t.delay),void 0!==t.address&&(i[t.address]||(i[t.address]={stopTX:!0})),void 0!==t.settings&&Object.assign(i[t.address],t.settings)),i.delay=e=e||0,N(this,[T,120,255&e,e>>8&255,d]),this}sendI2CWriteRequest(t,e){const i=[];e=e||[],i.push(T,f,t,this.I2C_MODES.WRITE<<3);for(let t=0,r=e.length;t>7&127);i.push(d),N(this,i)}i2cWrite(t,e,i){const n=[T,f,t,this.I2C_MODES.WRITE<<3];if(3===arguments.length&&!Array.isArray(e)&&!Array.isArray(i))return this.i2cWriteReg(t,e,i);2===arguments.length&&(Array.isArray(e)?(i=e.slice(),e=i.shift()):i=[]);const s=r.from([e].concat(i));for(var o=0,a=s.length;o>7&127);return n.push(d),N(this,n),this}i2cWriteReg(t,e,i){return N(this,[T,f,t,this.I2C_MODES.WRITE<<3,127&e,e>>7&127,127&i,i>>7&127,d]),this}sendI2CReadRequest(t,e,i){N(this,[T,f,t,this.I2C_MODES.READ<<3,127&e,e>>7&127,d]),this.once(`I2C-reply-${t}-0`,i)}i2cRead(t,e,i,r){3===arguments.length&&\"number\"==typeof e&&\"function\"==typeof i&&(r=i,i=e,e=null);const n=[T,f,t,this.I2C_MODES.CONTINUOUS_READ<<3];let s=`I2C-reply-${t}-`;return null!==e?n.push(127&e,e>>7&127):e=0,s+=e,n.push(127&i,i>>7&127,d),this.on(s,r),N(this,n),this}i2cStop(t){null!=t&&(\"number\"==typeof t&&(t={address:t}),L(this,[T,f,t.address,this.I2C_MODES.STOP_READING<<3,d]),Object.keys(this._events).forEach(e=>{e.startsWith(`I2C-reply-${t.address}`)&&this.removeAllListeners(e)}))}i2cReadOnce(t,e,i,r){3===arguments.length&&\"number\"==typeof e&&\"function\"==typeof i&&(r=i,i=e,e=null);const n=[T,f,t,this.I2C_MODES.READ<<3];let s=`I2C-reply-${t}-`;return null!==e?n.push(127&e,e>>7&127):e=0,s+=e,n.push(127&i,i>>7&127,d),this.once(s,r),N(this,n),this}sendOneWireConfig(t,e){L(this,[T,g,65,t,e?1:0,d])}sendOneWireSearch(t,e){this[I](64,`1-wire-search-reply-${t}`,t,e)}sendOneWireAlarmsSearch(t,e){this[I](68,`1-wire-search-alarms-reply-${t}`,t,e)}[I](t,e,i,r){L(this,[T,g,t,i,d]);const n=setTimeout(()=>{r(new Error(\"1-Wire device search timeout - are you running ConfigurableFirmata?\"))},5e3);this.once(e,t=>{clearTimeout(n),r(null,t)})}sendOneWireRead(t,e,i,r){const n=Math.floor(255*Math.random()),s=setTimeout(()=>{r(new Error(\"1-Wire device read timeout - are you running 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e=t<10?10:t>65535?65535:t;this.settings.samplingInterval=e,L(this,[T,122,127&e,e>>7&127,d])}getSamplingInterval(){return this.settings.samplingInterval}reportAnalogPin(t,e){0!==e&&1!==e||(this.pins[this.analogPins[t]].report=e,L(this,[192|t,e]))}reportDigitalPin(t,e){const i=t>>3;0!==e&&1!==e||(this.pins[t].report=e,L(this,[208|i,e]))}pingRead(t,e){if(!this.pins[t.pin].supportedModes.includes(117))throw new Error(\"Please upload PingFirmata to the board\");const{pin:i,value:r,pulseOut:n=0,timeout:s=1e6}=t;L(this,[T,117,i,r,...x.encode([n>>24&255,n>>16&255,n>>8&255,255&n]),...x.encode([s>>24&255,s>>16&255,s>>8&255,255&s]),d]),this.once(`ping-read-${i}`,e)}accelStepperConfig(t){let{deviceNum:e,invertPins:i,motorPin1:r,motorPin2:n,motorPin3:s,motorPin4:o,enablePin:a,stepSize:l=this.STEPPER.STEP_SIZE.WHOLE,type:h=this.STEPPER.TYPE.FOUR_WIRE}=t;const c=[T,O,0,e];let u=(7&h)<<4|(7&l)<<1,p=0;void 0!==a&&(u|=1),c.push(u),[\"stepPin\",\"motorPin1\",\"directionPin\",\"motorPin2\",\"motorPin3\",\"motorPin4\",\"enablePin\"].forEach(e=>{void 0!==t[e]&&c.push(t[e])}),Array.isArray(i)&&(i.includes(r)&&(p|=1),i.includes(n)&&(p|=2),i.includes(s)&&(p|=4),i.includes(o)&&(p|=8),i.includes(a)&&(p|=16)),c.push(p,d),L(this,c)}accelStepperZero(t){L(this,[T,O,1,t,d])}accelStepperStep(t,e,i){L(this,[T,O,2,t,...G(e),d]),i&&this.once(`stepper-done-${t}`,i)}accelStepperTo(t,e,i){L(this,[T,O,3,t,...G(e),d]),i&&this.once(`stepper-done-${t}`,i)}accelStepperEnable(t,e=!0){L(this,[T,O,4,t,1&e,d])}accelStepperStop(t){L(this,[T,O,5,t,d])}accelStepperReportPosition(t,e){L(this,[T,O,6,t,d]),e&&this.once(`stepper-position-${t}`,e)}accelStepperAcceleration(t,e){L(this,[T,O,8,t,...B(e),d])}accelStepperSpeed(t,e){L(this,[T,O,9,t,...B(e),d])}multiStepperConfig(t){L(this,[T,O,32,t.groupNum,...t.devices,d])}multiStepperTo(t,e,i){if(t<0||t>5)throw new RangeError(`Invalid \"groupNum\": ${t}. 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Expected \"groupNum\" between 0-5`);L(this,[T,O,35,t,d])}stepperConfig(t,e,i,r,n,s,o){L(this,[T,114,0,t,e,127&i,i>>7&127,r,n,...e===this.STEPPER.TYPE.FOUR_WIRE?[s,o]:[],d])}stepperStep(t,e,i,r,n,s,o){\"function\"==typeof n&&(o=n,n=0,s=0),L(this,[T,114,1,t,e,127&i,i>>7&127,i>>14&127,127&r,r>>7&127,...n>0||s>0?[127&n,n>>7&127,127&s,s>>7&127]:[],d]),o&&this.once(`stepper-done-${t}`,o)}serialConfig(t){let e,i,r,n;if(\"object\"==typeof t&&null!==t&&(e=t.portId,i=t.baud,r=t.rxPin,n=t.txPin),void 0===e)throw new Error(\"portId must be specified, see SERIAL_PORT_IDs for options.\");i=i||57600;const s=[T,w,16|e,127&i,i>>7&127,i>>14&127];if(e>7&&void 0!==r&&void 0!==n)s.push(r,n);else if(e>7)throw new Error(\"Both RX and TX pins must be defined when using Software Serial.\");s.push(d),L(this,s)}serialWrite(t,e){const i=[T,w,32|t];for(let t=0,r=e.length;t>7&127);i.push(d),e.length>0&&L(this,i)}serialRead(t,e,i){const r=[T,w,48|t,this.SERIAL_MODES.CONTINUOUS_READ];2===arguments.length&&\"function\"==typeof e?i=e:r.push(127&e,e>>7&127),r.push(d),L(this,r),this.on(`serial-data-${t}`,i)}serialStop(t){L(this,[T,w,48|t,this.SERIAL_MODES.STOP_READING,d]),this.removeAllListeners(`serial-data-${t}`)}serialClose(t){L(this,[T,w,80|t,d])}serialFlush(t){L(this,[T,w,96|t,d])}serialListen(t){t<8||L(this,[T,w,112|t,d])}sysexResponse(t,e){if(x.SYSEX_RESPONSE[t])throw new Error(`${t} is not an available SYSEX_RESPONSE byte`);return x.SYSEX_RESPONSE[t]=t=>e.call(t,t.buffer.slice(2,-1)),this}clearSysexResponse(t){x.SYSEX_RESPONSE[t]&&delete x.SYSEX_RESPONSE[t]}sysexCommand(t){if(!t||!t.length)throw new Error(\"Sysex Command cannot be empty\");return L(this,[T,...t.slice(),d]),this}reset(){L(this,[255])}static isAcceptablePort(t){return!!/usb|acm|^com/i.test(t.path)}static requestPort(t){!D||D&&\"function\"!=typeof D.list?i.nextTick(()=>{t(new Error(\"No Transport provided\"),null)}):D.list().then(e=>{const i=e.find(t=>x.isAcceptablePort(t)&&t);i?t(null,i):t(new Error(\"No Acceptable Port Found\"),null)}).catch(e=>{t(e,null)})}static encode(t){const e=[],i=t.length;for(let r=0;r>7&127);return e}static decode(t){const e=[];if(t.length%2!=0)throw new Error(\"Firmata.decode(data) called with odd number of data bytes\");for(;t.length;){const i=t.shift(),r=t.shift();e.push(i|r<<7)}return e}}function L(t,e){t.pending++,t.transport.write(r.from(e),()=>t.pending--)}function N(t,e){const i=a.get(t);if(!i)throw new Error(\"I2C is not enabled for this board. To enable, call the i2cConfig() method.\");if(e[1]===f){const t=e[2];i[t]||(i[t]={stopTX:!0}),24&e[3]&&(e[3]|=Number(!i[t].stopTX)<<6)}L(t,e)}function G(t){const e=t<0,i=[127&(t=Math.abs(t)),t>>7&127,t>>14&127,t>>21&127,t>>28&7];return e&&(i[i.length-1]|=8),i}function U(t){let e=127&t[0]|(127&t[1])<<7|(127&t[2])<<14|(127&t[3])<<21|(7&t[4])<<28;return t[4]>>3&&(e*=-1),e}x.prototype.analogWrite=x.prototype.pwmWrite,x.Board=x,x.SYSEX_RESPONSE=P,x.MIDI_RESPONSE=M;const k=Math.pow(2,23);function B(t){const e=t<0?1:0;t=Math.abs(t);const i=Math.floor(Math.log10(t));let r=0+i;for(t/=Math.pow(10,i);!Number.isInteger(t)&&tk;)r+=1,t/=10;r+=11;return[127&(t=Math.trunc(t)),t>>7&127,t>>14&127,t>>21&3|(15&r)<<2|(1&e)<<6]}if(i.env.IS_TEST_MODE){let t=null;x.test={i2cPeripheralSettings:t=>a.get(t),get i2cActive(){return a},set transport(e){t=D,D=e},restoreTransport(){D=t},encode32BitSignedInteger:G,decode32BitSignedInteger:U,encodeCustomFloat:B,decodeCustomFloat:function(t){const 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s={2:0,4:1,8:2,16:3}[e.range||2];this.io.i2cWrite(n,this.REGISTER.DATA_FORMAT,8|s),this.io.i2cRead(n,this.REGISTER.DATAX0,6,t=>{i({x:l(t[1],t[0]),y:l(t[3],t[2]),z:l(t[5],t[4])})})}},toGravity:{value:t=>c(.00390625*t,8)}},MMA7361:{DEFAULTS:{value:{zeroV:[372,372,287],sensitivity:170}},initialize:{value(t,e){const i=d.get(this);void 0!==t.sleepPin&&(i.sleepPin=t.sleepPin,this.io.pinMode(i.sleepPin,1),this.io.digitalWrite(i.sleepPin,1)),g.call(this,t,e)}},toGravity:{value(t,e){return c(m.call(this,t,e),3)}},enabledChanged:{value(t){const e=d.get(this);void 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Expected one of: 800, 400, 200, 100, 50, 12, 6\");let f=8;f|=a<<3,this.io.i2cWriteReg(n,this.REGISTER.CTRL_REG1,f),this.io.i2cWriteReg(n,this.REGISTER.XYZ_DATA_CFG,c);let g=0;128&u.x||(g|=3,this.io.i2cWriteReg(n,this.REGISTER.PULSE_THSX,u.x)),128&u.y||(g|=12,this.io.i2cWriteReg(n,this.REGISTER.PULSE_THSY,u.y)),128&u.z||(g|=48,this.io.i2cWriteReg(n,this.REGISTER.PULSE_THSZ,u.z)),this.io.i2cWriteReg(n,this.REGISTER.PULSE_CFG,64|g),this.io.i2cWriteReg(n,this.REGISTER.PULSE_TMLT,60/(1e3/o[a])),this.io.i2cWriteReg(n,this.REGISTER.PULSE_LTCY,200/(1e3/o[a])),this.io.i2cWriteReg(n,this.REGISTER.PULSE_WIND,255),f|=1,this.io.i2cWriteReg(n,this.REGISTER.CTRL_REG1,f),this.io.i2cRead(n,this.REGISTER.STATUS,7,t=>{(8&t.shift())>>>3&&(p.x=l(t[0],t[1])>>4,p.y=l(t[2],t[3])>>4,p.z=l(t[4],t[5])>>4,i(p))}),this.io.i2cRead(n,this.REGISTER.PULSE_SRC,1,t=>{const e=t[0],i=127&e;128&e&&(this.emit(\"tap\"),i>>2&1&&(this.emit(\"tap:single\"),i>>3&1&&this.emit(\"tap:double\")))})}},toGravity:{value(t){return c(t/(2048*d.get(this).scale),4)}}},MMA7660:{ADDRESSES:{value:[76]},REGISTER:{value:{XOUT:0,MODE:7,SR:8}},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\"),n=r.addressResolver(this,e);d.get(this).sensitivity=21.33,this.io.i2cConfig(e),this.io.i2cWrite(n,this.REGISTER.MODE,0),this.io.i2cWrite(n,this.REGISTER.SR,7),this.io.i2cWrite(n,this.REGISTER.MODE,1),this.io.i2cRead(n,this.REGISTER.XOUT,3,t=>{i({x:63&t[0],y:63&t[1],z:63&t[2]})})}},toGravity:{value(t){return c(t/d.get(this).sensitivity,3)}}},ESPLORA:{DEFAULTS:{value:{zeroV:[320,330,310],sensitivity:170}},initialize:{value(t,e){this.pins=[5,11,6],g.call(this,t,e)}},toGravity:{value(t,e){return c(m.call(this,t,e),2)}}},LIS3DH:{ADDRESSES:{value:[24]},REGISTER:{value:{OUT_X_L:40,CTRL_REG1:32,CTRL_REG2:33,CTRL_REG3:34,CTRL_REG4:35,CTRL_REG5:36,TEMP_CFG_REG:31,CLICK_CFG:56,CLICK_SRC:57,CLICK_THS:58,TIME_LIMIT:59,TIME_LATENCY:60,TIME_WINDOW:61}},initialize:{value(t,e){const i=d.get(this),r=t.address||24;let s={2:0,4:1,8:2,16:3}[t.range||4];void 0===s&&(s=1);let o=[16380,8190,4096,1365][s];void 0===o&&(o=1);let a=[80,40,20,10][s];void 0===a&&(a=10),i.divider=o,i.expander=n.get({address:r,controller:this.controller,bus:this.bus});const h=136|s<<4;i.expander.i2cWrite(r,this.REGISTER.CTRL_REG4,h),i.expander.i2cReadOnce(r,this.REGISTER.CTRL_REG1,1,t=>{let n=t[0];n&=-241,n|=96,i.expander.i2cWrite(r,this.REGISTER.CTRL_REG1,n),i.expander.i2cRead(r,128|this.REGISTER.OUT_X_L,6,t=>{e({x:l(t[1],t[0]),y:l(t[3],t[2]),z:l(t[5],t[4])})}),i.expander.i2cWrite(r,this.REGISTER.CTRL_REG3,128),i.expander.i2cWrite(r,this.REGISTER.CTRL_REG5,8),i.expander.i2cWrite(r,this.REGISTER.CLICK_CFG,42);i.expander.i2cWrite(r,this.REGISTER.CLICK_THS,a),i.expander.i2cWrite(r,this.REGISTER.TIME_LIMIT,10),i.expander.i2cWrite(r,this.REGISTER.TIME_LATENCY,20),i.expander.i2cWrite(r,this.REGISTER.TIME_WINDOW,255);let s=null;i.expander.i2cRead(r,this.REGISTER.CLICK_SRC,1,t=>{const e=t[0],i=Date.now();null===s&&(s=i-101),ii(t))}},toGravity:{value:t=>c(t,2)}}};y.TINKERKIT=y.ANALOG,y.MMA8452Q=y.MMA8452,y.DEFAULT=y.ANALOG;class b extends s{constructor(t){super();const e={enabled:!0,x:{value:0,previous:0,stash:[],orientation:null,inclination:null,acceleration:null,calibration:[]},y:{value:0,previous:0,stash:[],orientation:null,inclination:null,acceleration:null,calibration:[]},z:{value:0,previous:0,stash:[],orientation:null,inclination:null,acceleration:null,calibration:[]}};r.Component.call(this,t=r.Options(t)),r.Controller.call(this,y,t),this.toGravity||(this.toGravity=t.toGravity||(t=>t)),this.enabledChanged||(this.enabledChanged=()=>{}),d.set(this,e),\"function\"==typeof this.initialize&&this.initialize(t,i=>{let r=!1;e.enabled&&(Object.keys(i).forEach(n=>{const s=i[n],o=e[n];if(t.autoCalibrate&&o.calibration.length<10){const t=f.indexOf(n);o.calibration.push(s),Array.isArray(e.zeroV)||(e.zeroV=[]),e.zeroV[t]=h(o.calibration)/o.calibration.length,n===p&&(e.zeroV[t]-=e.sensitivity)}if(0===o.stash.length)for(let t=0;t<5;t++)o.stash[t]=s;o.previous=o.value,o.stash.shift(),o.stash.push(s),o.value=h(o.stash)/5|0,this.acceleration!==o.acceleration&&(o.acceleration=this.acceleration,r=!0,this.emit(\"acceleration\",o.acceleration)),this.orientation!==o.orientation&&(o.orientation=this.orientation,r=!0,this.emit(\"orientation\",o.orientation)),this.inclination!==o.inclination&&(o.inclination=this.inclination,r=!0,this.emit(\"inclination\",o.inclination))}),this.emit(\"data\",{x:e.x.value,y:e.y.value,z:e.z.value}),r&&this.emit(\"change\",{x:this.x,y:this.y,z:this.z}))}),Object.defineProperties(this,{hasAxis:{writable:!0,value:t=>!!e[t]&&e[t].stash.length>0},enable:{value(){return e.enabled=!0,this.enabledChanged(!0),this}},disable:{value(){return e.enabled=!1,this.enabledChanged(!1),this}},zeroV:{get:()=>e.zeroV},pitch:{get(){const t=this.x,e=this.y,i=this.z,r=this.hasAxis(p)?Math.atan2(t,Math.hypot(e,i)):Math.asin(o(t,-1,1));return c(r*u,2)}},roll:{get(){const t=this.x,e=this.y,i=this.z,r=this.hasAxis(p)?Math.atan2(e,Math.hypot(t,i)):Math.asin(o(e,-1,1));return c(r*u,2)}},x:{get(){return this.toGravity(e.x.value,\"x\")}},y:{get(){return this.toGravity(e.y.value,\"y\")}},z:{get(){return this.hasAxis(p)?this.toGravity(e.z.value,p):0}},acceleration:{get(){return function(t,e,i){let r;return r=t*t,r=a(e,e,r),r=a(i,i,r),Math.sqrt(r)}(this.x,this.y,this.z)}},inclination:{get(){return Math.atan2(this.y,this.x)*u}},orientation:{get(){const t=Math.abs,e=this.x,i=this.y,r=this.hasAxis(p)?this.z:1,n=t(e),s=t(i),o=t(r);return n0?1:-1:s0?2:-2:o0?3:-3:0}}})}}i.env.IS_TEST_MODE&&(b.Controllers=y,b.purge=function(){d.clear()}),e.exports=b}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./expander\":92,\"./fn\":93,\"./mixins/emitter\":113,\"./sip\":127,_process:158}],79:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),{toFixed:s}=t(\"./fn\"),o=new Map,a={MPL3115A2:{requirements:{value:{options:{elevation:{throws:!1,message:\"Missing `elevation` option. Without a specified base `elevation`, the altitude measurement will be inaccurate. Use the meters value shown on whatismyelevation.com\",typeof:\"number\"}}}},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"MPL3115A2\",e).on(\"data\",({altitude:t})=>i(t))}},toMeters:{writable:!0,value:t=>s(t,1)}},MS5611:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"MS5611\",e).on(\"data\",({altitude:t})=>i(t))}},toMeters:{writable:!0,value:t=>s(t,2)}},BMP180:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"BMP180\",e).on(\"data\",({altitude:t})=>i(t))}},toMeters:{writable:!0,value:t=>s(t,2)}},BMP280:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"BMP280\",e).on(\"data\",({altitude:t})=>i(t))}},toMeters:{writable:!0,value:t=>s(t,3)}},BME280:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"BME280\",e).on(\"data\",({altitude:t})=>i(t))}},toMeters:{writable:!0,value:t=>s(t,3)}}};a.BMP085=a[\"BMP-085\"]=a.BMP180;class l extends n{constructor(t){super(),r.Component.call(this,t=r.Options(t)),r.Controller.call(this,a,t);const e=t.freq||25;let i=null,n=null;this.toMeters||(this.toMeters=t.toMeters||(t=>t)),o.set(this,{});const l={meters:{get(){return this.toMeters(n)}},feet:{get(){return s(3.28084*this.meters,2)}}};l.m=l.meters,l.ft=l.feet,Object.defineProperties(this,l),\"function\"==typeof this.initialize&&this.initialize(t,t=>n=t),setInterval(()=>{if(null==n)return;const t={};t.m=t.meters=this.meters,t.ft=t.feet=this.feet,this.emit(\"data\",t),this.meters!==i&&(i=this.meters,this.emit(\"change\",t))},e)}}i.env.IS_TEST_MODE&&(l.Controllers=a,l.purge=function(){o.clear()}),e.exports=l}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./fn\":93,\"./mixins/emitter\":113,\"./sip\":127,_process:158}],80:[function(t,e,i){(function(i){(function(){const r=t(\"./mixins/emitter\"),n=t(\"./easing\"),{cloneDeep:s,constrain:o}=t(\"./fn\");let a;class l extends r{constructor(e){super(),a||(a=t(\"temporal\")),Object.assign(this,new l.Segment),this.defaultTarget=e||{}}enqueue(t={}){return void 0===t.target&&(t.target=this.defaultTarget),this.segments.push(t),this.paused||this.isRunning||this.next(),this}next(){return this.isRunning||(this.isRunning=!0,this.segments.length>0?(Object.assign(this,new l.Segment(this.segments.shift())),this.paused=0===this.currentSpeed,this.onstart&&this.onstart(),this.normalizeKeyframes(),this.reverse&&(this.currentSpeed*=-1),0!==this.currentSpeed?this.play():this.paused=!0):this.playLoop.stop()),this}pause(){this.emit(\"animation:pause\"),this.playLoop&&this.playLoop.stop(),this.paused=!0,this.onpause&&this.onpause()}stop(){this.emit(\"animation:stop\"),this.segments=[],this.isRunning=!1,this.playLoop&&this.playLoop.stop(),this.onstop&&this.onstop()}speed(t){return void 0===t?this.currentSpeed:(this.currentSpeed=t,this.scaledDuration=this.duration/Math.abs(this.currentSpeed),this.startTime=Date.now()-this.scaledDuration*this.progress,this.endTime=this.startTime+this.scaledDuration,this.paused||this.play(),this)}loopFunction({calledAt:t}){const e=this.calculateProgress(t),r=this.findIndices(e);this.target[l.render](this.tweenedValue(r,e)),t>this.fallBackTime&&(this.fallBackTime=1/0,this.playLoop&&this.playLoop.stop(),this.playLoop=new l.TemporalFallback(this)),(1===this.progress&&!this.reverse||e===this.loopback&&this.reverse)&&(this.loop||this.metronomic&&!this.reverse?(this.onloop&&this.onloop(),this.metronomic&&(this.reverse=!this.reverse),this.normalizeKeyframes(),this.progress=this.loopback,this.startTime=Date.now()-this.scaledDuration*this.progress,this.endTime=this.startTime+this.scaledDuration):(this.isRunning=!1,this.oncomplete&&i.nextTick(()=>this.oncomplete()),this.segments.length>0?i.nextTick(()=>this.next()):this.stop()))}play(){const t=Date.now();this.playLoop&&this.playLoop.stop(),this.paused=!1,this.isRunning=!0,this.scaledDuration=this.duration/Math.abs(this.currentSpeed),this.startTime=t-this.scaledDuration*this.progress,this.endTime=this.startTime+this.scaledDuration,this.fallBackTime=t+5e3,this.frameCount=0,this.fps&&(this.rate=1e3/this.fps),this.rate=0|this.rate,this.playLoop=a.loop(this.rate,t=>this.loopFunction(t))}findIndices(t){const e={left:null,right:null};return e.right=this.cuePoints.findIndex(e=>e>=t),e.left=0===e.right?0:e.right-1,e}calculateProgress(t){let e=(t-this.startTime)/this.scaledDuration;return e>1&&(e=1),this.progress=e,this.reverse&&(e=1-e),o(n[this.easing](e),0,1)}tweenedValue(t,e){const i={duration:null,progress:null};return this.normalizedKeyFrames.map(r=>{const s={left:null,right:null};for(s.left=t.left;s.left>-1&&null===r[s.left];s.left--);s.right=r.findIndex((e,i)=>i>=t.right&&null!==e),i.duration=this.cuePoints[s.right]-this.cuePoints[s.left],i.progress=(e-this.cuePoints[s.left])/i.duration,Number.isFinite(i.progress)||(i.progress=this.reverse?0:1);const o=r[s.left],a=r[s.right];let h;return i.progress=n[a.easing](i.progress),h=a.position?a.position.map((t,e)=>(t-o.position[e])*i.progress+o.position[e]):\"number\"==typeof a.value&&\"number\"==typeof o.value?(a.value-o.value)*i.progress+o.value:this.target[l.keys].reduce((t,e)=>(t[e]=(a.value[e]-o.value[e])*i.progress+o.value[e],t),{}),h})}normalizeKeyframes(){let t,e=s(this.keyFrames);const i=this.cuePoints;return e=this.target[l.normalize](e),Array.isArray(e[0])||(e=[e]),e.forEach(function(e){for(let t=e.length;t{null!==e?(\"object\"!=typeof e&&(e={step:e,easing:\"linear\"}),void 0!==e.step&&(e.value=!1===e.step?t:t+e.step),e.easing||(e.easing=\"linear\"),void 0!==e.copyValue&&(e.value=r[e.copyValue].value),e.copyFrame&&(e=r[e.copyFrame]),t=e.value):e=i===r.length-1?{value:t,easing:\"linear\"}:null,r[i]=e},this)}),this.normalizedKeyFrames=e,this}}l.keys=\"@@keys\",l.normalize=\"@@normalize\",l.render=\"@@render\",l.TemporalFallback=class{constructor(t){this.interval=setInterval(()=>{t.loopFunction({calledAt:Date.now()})},t.rate)}stop(){this.interval&&clearInterval(this.interval)}},l.Segment=class{constructor(t){this.cuePoints=[0,1],this.duration=1e3,this.easing=\"linear\",this.loop=!1,this.loopback=0,this.metronomic=!1,this.currentSpeed=1,this.progress=0,this.fps=60,this.rate=1e3/60,this.paused=!1,this.isRunning=!1,this.segments=[],this.onstart=null,this.onpause=null,this.onstop=null,this.oncomplete=null,this.onloop=null,t&&(Object.assign(this,t),t.segments&&(this.segments=t.segments.slice()))}},e.exports=l}).call(this)}).call(this,t(\"_process\"))},{\"./easing\":89,\"./fn\":93,\"./mixins/emitter\":113,_process:158,temporal:180}],81:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),{toFixed:s}=t(\"./fn\"),o={MPL115A2:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"MPL115A2\",e).on(\"data\",({pressure:t})=>i(t))}},toPressure:{value:t=>s(65/1023*t+50,2)}},MPL3115A2:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"MPL3115A2\",e).on(\"data\",({pressure:t})=>i(t))}},toPressure:{value:t=>s(3.39*(t/4/3377),4)}},BMP180:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"BMP180\",e).on(\"data\",({pressure:t})=>i(t))}},toPressure:{value:t=>s(t/1e3,3)}},BMP280:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"BMP280\",e).on(\"data\",({pressure:t})=>i(t))}},toPressure:{value:t=>s(t/1e3,5)}},BME280:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"BME280\",e).on(\"data\",({pressure:t})=>i(t))}},toPressure:{value:t=>s(t/1e3,5)}},MS5611:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"MS5611\",e).on(\"data\",({pressure:t})=>i(t))}},toPressure:{value:t=>s(t/1e3,4)}}};o.BMP085=o.BMP180;class a extends n{constructor(t){super(),r.Component.call(this,t=r.Options(t)),r.Controller.call(this,o,t);const e=t.freq||25;let i=null,n=null;this.toPressure||(this.toPressure=t.toPressure||(t=>t)),\"function\"==typeof this.initialize&&this.initialize(t,t=>{n=t}),Object.defineProperties(this,{pressure:{get(){return this.toPressure(n)}}}),setInterval(()=>{if(null===n)return;const t={pressure:this.pressure};this.emit(\"data\",t),this.pressure!==i&&(i=this.pressure,this.emit(\"change\",t))},e)}}i.env.IS_TEST_MODE&&(a.Controllers=o,a.purge=function(){}),e.exports=a}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./fn\":93,\"./mixins/emitter\":113,\"./sip\":127,_process:158}],82:[function(t,e,i){(function(i){(function(){const r=t(\"./mixins/emitter\"),n=t(\"chalk\"),s=t(\"./mixins/collection\"),o=t(\"./fn\"),a=t(\"./repl\"),l=t(\"./board.options\"),h=t(\"./board.pins\");let c,u=!!i.env.IS_TEST_MODE;const d=[],p=/usb|acm|^com/i,f=\"undefined\",g={used:[],attempts:[],detect(e){let r;r=parseFloat(i.versions.nw)>=.13?t(\"browser-serialport\"):t(\"serialport\"),r.list().then(t=>{const i=t.reduce((t,e)=>{let i=!0;return p.test(e.path)||(i=!1),g.used.includes(e.path)&&(i=!1),i&&t.push(e.path),t},[]);if(!i.length){if(u&&this.abort)return;return g.attempts[g.used.length]||(g.attempts[g.used.length]=0,this.info(\"Board\",\"Looking for connected device\")),g.attempts[g.used.length]++,g.attempts[g.used.length]>10?void this.fail(\"Board\",\"No connected device found\"):void setTimeout(()=>{g.detect.call(this,e)},400)}this.info(\"Available\",n.grey(i)),e.call(this,i[0])})},connect(e,i){const r=t(\"firmata\").Board;let s,o,a,l,h=null;\"object\"==typeof e&&e.path?(a=e.path,this.info(e.transport||\"SerialPort\",n.grey(a))):a=e,g.used.push(a);try{s=new r(e,t=>{t&&(h=t),i.call(this,h,h?\"error\":\"ready\",s)}),s.name=\"Firmata\",s.defaultLed=13,s.port=a,o=!0}catch(t){h=t}h&&(h=h.message||h),l=o?\"connect\":\"error\",i.call(this,h,l,s)}};class m extends r{constructor(t={}){super();const e={};let r=!1;Object.assign(this,t),this.timer=null,this.isConnected=!1,this.isReady=!1,this.io=this.io||null,this.register=[],this.occupied=[],this.Drivers={},this.id||(this.id=o.uid()),typeof this.debug===f&&(this.debug=!0),typeof this.repl===f&&(this.repl=!0),typeof this.sigint===f&&(this.sigint=!0),this.pins=null,this.repl&&(a.ref?(e[this.id]=this,a.ref.on(\"ready\",function(){a.ref.inject(e)}),this.repl=a.ref):(e[this.id]=e.board=this,this.repl=new a(e))),t.io?(this.io=t.io,this.isReady=t.io.isReady,this.transport=this.io.transport||null,this.port=this.io.name,this.pins=m.Pins(this),this.RESOLUTION=Object.assign({ADC:1023,DAC:null,PWM:255},this.io.RESOLUTION||{})):this.port&&t.port?g.connect.call(this,this.port,y):g.detect.call(this,function(t){g.connect.call(this,t,y)}),t.port||null===this.io||(this.info(\"Available\",n.grey(this.io.name||\"unknown\")),[\"connect\",\"ready\"].forEach(t=>{this.io.once(t,()=>{\"ready\"!==t||this.isConnected?y.call(this,null,t,this.io):r=!0,\"connect\"===t&&r&&y.call(this,null,\"ready\",this.io)}),this.io.isReady&&i.nextTick(()=>this.io.emit(t))})),this.once(\"ready\",()=>{const t=i.hrtime();this.millis=function(){return i.hrtime(t)[1]/1e6},[\"close\",\"disconnect\",\"error\",\"string\"].forEach(t=>{this.io.on(t,e=>this.emit(t,e))})}),d.push(this)}}function y(t,e,r){let s=!1;this.io||(this.io=r),\"error\"===e&&t&&t.message&&(s=!0,this.error(\"Error\",t.message)),\"connect\"===e&&(this.isConnected=!0,this.port=r.port||r.name,this.info(\"Connected\",n.grey(this.port)),u||(this.timer=setTimeout(()=>{this.error(\"Device or Firmware Error\",\"A timeout occurred while connecting to the Board. \\n\\nPlease check that you've properly flashed the board with the correct firmware.\\nSee: https://github.com/rwaldron/johnny-five/wiki/Getting-Started#trouble-shooting\\n\\nIf connecting to a Leonardo or Leonardo clone, press the 'Reset' button on the board, wait approximately 11 seconds for complete reset, then run your program again.\"),this.emit(\"error\",new Error(\"A timeout occurred while connecting to the Board.\"))},this.timeout||1e4))),\"ready\"===e&&(this.timer&&clearTimeout(this.timer),this.isReady=!0,this.pins=m.Pins(this),this.MODES=this.io.MODES,typeof r.debug!==f&&!1===r.debug&&(this.debug=!1),typeof r.repl!==f&&!1===r.repl&&(this.repl=!1),this.repl&&this.repl.initialize(()=>this.emit(\"ready\")),\"Mock\"!==r.name&&this.sigint&&i.on(\"SIGINT\",()=>{this.emit(\"exit\"),this.warn(\"Board\",\"Closing.\");const t=setTimeout(()=>{i.reallyExit()},1e3),e=setInterval(()=>{this.io.pending||(clearInterval(e),clearTimeout(t),i.nextTick(i.reallyExit))},1)}),this.RESOLUTION=Object.assign({ADC:1023,DAC:null,PWM:255},r.RESOLUTION||{})),this.repl?\"connect\"===e&&this.emit(e,t):s||this.emit(e,t)}[\"digitalWrite\",\"analogWrite\",\"analogRead\",\"digitalRead\",\"pinMode\",\"queryPinState\",\"stepperConfig\",\"stepperStep\",\"sendI2CConfig\",\"sendI2CWriteRequest\",\"sendI2CReadRequest\",\"i2cConfig\",\"i2cWrite\",\"i2cWriteReg\",\"i2cRead\",\"i2cReadOnce\",\"pwmWrite\",\"servoConfig\",\"servoWrite\",\"sysexCommand\",\"sysexResponse\",\"serialConfig\",\"serialWrite\",\"serialRead\",\"serialStop\",\"serialClose\",\"serialFlush\",\"serialListen\"].forEach(function(t){m.prototype[t]=function(){return this.io[t].apply(this.io,arguments),this}}),m.prototype.snapshot=function(t){const e=this.snapshot.blacklist,i=this.snapshot.special,r=\"function\"==typeof t;return this.register.reduce((n,s)=>(typeof s.components===f&&n.push(Object.getOwnPropertyNames(s).reduce((n,o)=>{const a=s[o];if(!e.includes(o)&&\"function\"!=typeof a)if(r){const e=t(o,a,s);void 0!==e&&(n[o]=e)}else n[o]=i[o]?i[o](a):a;return n},Object.create(null))),n),[])},m.prototype.serialize=function(t){return JSON.stringify(this.snapshot(t))},m.prototype.snapshot.blacklist=[\"board\",\"io\",\"_events\",\"_eventsCount\",\"state\"],m.prototype.samplingInterval=function(t){if(!this.io.setSamplingInterval)throw new Error(\"This IO plugin does not implement an interval adjustment method\");return this.io.setSamplingInterval(t),this},m.prototype.snapshot.special={mode:function(t){return[\"INPUT\",\"OUTPUT\",\"ANALOG\",\"PWM\",\"SERVO\"][t]||\"unknown\"}},m.prototype.shiftOut=function(t,e,i,r){3===arguments.length&&(r=i,i=!0);for(let n=0;n<8;n++)this.io.digitalWrite(e,0),i?this.io.digitalWrite(t,0|!!(r&1<<7-n)):this.io.digitalWrite(t,0|!!(r&1<d}),m.Event=function(t){if(typeof t===f)throw new Error(\"Board.Event missing Event object\");this.type=t.type||\"data\",this.target=t.target||null,Object.assign(this,t)};class E extends s{constructor(t){let e;if(Array.isArray(t)&&(e=t.slice(),t={ports:e}),Array.isArray(t)||\"object\"!=typeof t||void 0===t.ports||(e=t.ports),!Array.isArray(e))throw new Error(\"Expected ports to be an array\");typeof t.debug===f&&(t.debug=!0),typeof t.repl===f&&(t.repl=!0);const i={},r=e.some(({repl:t})=>!1===t),s=e.some(({debug:t})=>!1===t);super(e.map(t=>{let e;return\"string\"==typeof t?(e={},p.test(t)?e.port=t:e.id=t):e=t,e.repl=!1,new m(e)})),this.debug=t.debug,this.repl=t.repl,s&&(this.debug=!1),r&&(this.repl=!1);const o=this.map((t,e)=>(i[t.id]=t,new Promise(t=>{this[e].on(\"error\",t=>this.emit(\"error\",t)),this[e].on(\"fail\",t=>this.emit(\"fail\",t)),this[e].on(\"ready\",()=>t(this[e]))})));Promise.all(o).then(()=>{this.each(t=>{t.info(\"Board ID: \",n.green(t.id))}),this.repl?(this.repl=new a(Object.assign({},i,{board:this})),this.repl.initialize(()=>this.emit(\"ready\",i))):this.emit(\"ready\",i)}).catch(t=>{console.error(n.red(t))})}static get type(){return m}}s.installMethodForwarding(E.prototype,m.prototype),Object.assign(E.prototype,r.prototype),E.prototype.byId=function(t){for(var e=0;e{e[t]&&(this[t]=e[t])})}function a({io:t}){return\"Firmata\"===t.name||\"Mock\"===t.name}Object.entries(n).forEach(([t,e])=>{Object.defineProperty(o,t,{value:e})}),o.isFirmata=a,o.Error=({pin:t,type:e,via:i})=>{throw new Error(`Pin Error: ${t} is not a valid ${e} pin (${i})`)};const l=new Map;o.normalize=function(t,e){var i,n=e.pins.type,s=a(e),h=l.get(e);return(\"string\"==typeof t||\"number\"==typeof t||Array.isArray(t))&&(t=new r(t)),h||(i=e.io&&\"function\"==typeof e.io.normalize,h=function(t){return s?o.fromAnalog(o.translate(t,n)):i?e.io.normalize(t):t},l.set(e,h)),function({pin:t,pins:e}){return void 0!==t||void 0!==e&&e.length}(t)&&(t.pins?t.pins=t.pins.map(h):t.pin=h(t.pin)),t},o.normalize.clear=function(){l.clear()},o.translations={UNO:{dtoa:{14:\"A0\",15:\"A1\",16:\"A2\",17:\"A3\",18:\"A4\",19:\"A5\"},tinker:{I0:\"A0\",I1:\"A1\",I2:\"A2\",I3:\"A3\",I4:\"A4\",I5:\"A5\",O0:11,O1:10,O2:9,O3:6,O4:5,O5:3,D13:13,D12:12,D8:8,D7:7,D4:4,D2:2}},MEGA:{dtoa:{54:\"A0\",55:\"A1\",56:\"A2\",57:\"A3\",58:\"A4\",59:\"A5\",60:\"A6\",61:\"A7\",62:\"A8\",63:\"A9\"},tinker:{I0:\"A0\",I1:\"A1\",I2:\"A2\",I3:\"A3\",I4:\"A4\",I5:\"A5\",I6:\"A6\",I7:\"A7\",I8:\"A8\",I9:\"A9\",O0:11,O1:10,O2:9,O3:6,O4:5,O5:3,D13:13,D12:12,D8:8,D7:7,D4:4,D2:2}}},o.translations.LEONARDO=o.translations.UNO,o.translate=function(t,e){var i=o.translations[e.toUpperCase()];return i?Object.keys(i).reduce(function(t,e){return i[e][t]||t},t):t},o.fromAnalog=function(t){return\"string\"==typeof t&&t.length>1&&\"A\"===t[0]?parseInt(t.slice(1),10):t},o.identity=function(t,e){return[].findIndex.call(t,function(t){return t.name===e||t.id===e||t.port===e})},Object.keys(n).forEach(function(t){var e=t[0]+t.slice(1).toLowerCase();o.prototype[\"is\"+e]=function(e){var i=this[e]||this[o.identity(this,e)];return!(!i||!i.supportedModes.includes(n[t]))}}),o.prototype.isDigital=function(t){var e=this[t]||this[o.identity(this,t)];return!(!e||!e.supportedModes.length)},e.exports=o},{\"./board.options\":83}],85:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/collection\"),s=t(\"./mixins/emitter\"),o=t(\"./evshield\"),a=t(\"./fn\"),l=new Map,h=r.Pins,c={down:[\"down\",\"press\"],up:[\"up\",\"release\"]},u={DEFAULT:{initialize:{value(t,e){const i=l.get(this);h.isFirmata(this)&&\"string\"==typeof t.pinValue&&t.pinValue.length>1&&\"A\"===t.pinValue[0]&&(t.pinValue=this.io.analogPins[+t.pinValue.slice(1)]),this.pin=Number.isNaN(+t.pinValue)?t.pinValue:+t.pinValue,this.io.pinMode(this.pin,this.io.MODES.INPUT),this.pullup&&this.io.digitalWrite(this.pin,this.io.HIGH),this.pulldown&&this.io.digitalWrite(this.pin,this.io.LOW),this.io.digitalRead(this.pin,t=>{t!==i.last&&e(t)})}},toBoolean:{writable:!0,value(t){return t===this.downValue}}},TINKERKIT:{initialize:{value(t,e){const i=l.get(this);let r=0;this.io.pinMode(this.pin,this.io.MODES.ANALOG),this.io.analogRead(this.pin,t=>{(t=t>512?1:0)!==r&&t!==i.last&&e(t),r=t})}},toBoolean:{writable:!0,value(t){return t===this.downValue}}},EVS_EV3:{initialize:{value(t,e){const i=l.get(this);i.previous=0,i.shield=o.shieldPort(t.pin),i.register=o.Touch,i.ev3=new o(Object.assign(t,{io:this.io})),i.ev3.setup(i.shield,o.Type_EV3_TOUCH),i.ev3.read(i.shield,o.Touch,o.Touch_Bytes,t=>{const r=t[0];i.previous!==r&&e(r),i.previous=r})}},toBoolean:{writable:!0,value(t){return t===this.downValue}}},EVS_NXT:{initialize:{value(t,e){const i=l.get(this);i.previous=0,i.shield=o.shieldPort(t.pin),i.ev3=new o(Object.assign(t,{io:this.io})),i.ev3.setup(i.shield,o.Type_ANALOG),i.ev3.read(i.shield,i.shield.analog,o.Analog_Bytes,t=>{let r=t[0]|t[1]<<8;r=r<300?1:0,i.previous!==r&&e(r),i.previous=r})}},toBoolean:{writable:!0,value(t){return t===this.downValue}}}};class d extends s{constructor(t){let e;super();let i=!1,n=1,s=0;const o={interval:null,last:null},h=a.debounce(t=>{c[t].forEach(t=>this.emit(t))},7);let d=\"object\"==typeof t?t.pin:t;r.Component.call(this,t=r.Options(t)),r.Controller.call(this,u,t),t.pinValue=d,this.holdtime=t.holdtime||500,this.pullup=t.pullup||t.isPullup||!1,this.pulldown=t.pulldown||t.isPulldown||!1,i=void 0!==t.invert?t.invert:this.pullup||!1,i&&(n^=1,s^=1),o.last=s,l.set(this,o),Object.defineProperties(this,{value:{get(){return Number(this.isDown)}},invert:{get:()=>i,set(t){i=t,n=i?0:1,s=i?1:0,o.last=s}},downValue:{get:()=>n,set(t){n=t,s=1^t,i=!!t,o.last=s}},upValue:{get:()=>s,set(t){s=t,n=1^t,i=!!t,o.last=n}},isDown:{get(){return this.toBoolean(e)}}}),\"function\"==typeof this.initialize&&this.initialize(t,t=>{e=t,this.isDown||(o.interval&&clearInterval(o.interval),h(\"up\")),this.isDown&&(h(\"down\"),o.interval=setInterval(()=>{this.isDown&&this.emit(\"hold\")},this.holdtime)),o.last=t})}}class p extends n.Emitter{constructor(t){super(t)}get type(){return d}}n.installMethodForwarding(p.prototype,d.prototype),d.Collection=p,i.env.IS_TEST_MODE&&(d.Controllers=u,d.purge=function(){l.clear()}),e.exports=d}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./evshield\":91,\"./fn\":93,\"./mixins/collection\":112,\"./mixins/emitter\":113,_process:158}],86:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./evshield\"),s=t(\"./mixins/emitter\"),o=t(\"./fn\"),a=new Map,l={EVS_EV3:{initialize:{value(t,e){const i=a.get(this);t.mode&&(t.mode=t.mode.toUpperCase()),i.mode=\"RAW\"===t.mode?n.Type_EV3_COLOR_RGBRAW:n.Type_EV3_COLOR,i.bytes=i.mode===n.Type_EV3_COLOR_RGBRAW?6:2,i.colors=[[],[0,0,0],[0,0,255],[0,128,0],[255,255,0],[255,0,0],[255,255,255],[139,69,19]],i.shield=n.shieldPort(t.pin),i.ev3=new n(Object.assign(t,{io:this.io})),i.ev3.setup(i.shield,n.Type_EV3),i.ev3.write(i.shield,129+i.shield.offset,i.mode),i.ev3.read(i.shield,n.ColorMeasure,i.bytes,t=>{let r=\"\";if(2===i.bytes)r+=String(t[0]|t[1]<<8||1);else for(let e=0;e<3;e++)r+=t[2*e].toString(16).padStart(2,\"0\");e(r)})}},toRGB:{value(t){const e=a.get(this);return e.mode===n.Type_EV3_COLOR?t>0&&t<8?e.colors[t]:e.colors[0]:(t=String(t),[0,0,0].map((e,i)=>parseInt(t.slice(2*i,2*i+2),16)))}}},EVS_NXT:{initialize:{value(t,e){const i=a.get(this);if(t.mode&&(t.mode=t.mode.toUpperCase()),i.mode=\"RAW\"===t.mode?n.Type_NXT_COLOR_RGBRAW:n.Type_NXT_COLOR,i.bytes=i.mode===n.Type_NXT_COLOR_RGBRAW?10:1,i.mode===n.Type_NXT_COLOR_RGBRAW)throw new Error(\"Raw RGB is not currently supported for the NXT.\");i.colors=[[],[0,0,0],[0,0,255],[0,128,0],[255,255,0],[255,0,0],[255,255,255]],i.shield=n.shieldPort(t.pin),i.ev3=new n(Object.assign(t,{io:this.io})),i.ev3.setup(i.shield,n.Type_NXT_COLOR),i.ev3.read(i.shield,112+i.shield.offset,i.bytes,t=>{let r=\"\";1===i.bytes&&(r+=String(t[0])),e(r)})}},toRGB:{value(t){const e=a.get(this);return e.mode===n.Type_NXT_COLOR?t>0&&t<7?e.colors[t]:e.colors[0]:(t=String(t),[0,0,0].map((e,i)=>parseInt(t.slice(2*i,2*i+2),16)))}}},ISL29125:{ADDRESSES:{value:[68]},REGISTER:{value:{RESET:0,CONFIG1:1,CONFIG2:2,CONFIG3:3,READ:9}},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\"),n=r.addressResolver(this,e);this.io.i2cConfig(e),this.io.i2cWriteReg(n,this.REGISTER.RESET,70),this.io.i2cWriteReg(n,this.REGISTER.CONFIG1,13),this.io.i2cWriteReg(n,this.REGISTER.CONFIG2,63),this.io.i2cWriteReg(n,this.REGISTER.CONFIG3,0),this.io.i2cRead(n,this.REGISTER.READ,6,t=>{let e=\"\";const r=t[1]<<8|t[0],n=[(t[3]<<8|t[2])>>2,r>>2,(t[5]<<8|t[4])>>2].map(t=>o.constrain(t,0,255));for(let t=0;t<3;t++)e+=n[t].toString(16).padStart(2,\"0\");i(e)})}},toRGB:{value:t=>(t=String(t),[0,0,0].map((e,i)=>parseInt(t.slice(2*i,2*i+2),16)))}}},h=[\"red\",\"green\",\"blue\"];class c extends s{constructor(t){super(),r.Component.call(this,t=r.Options(t)),r.Controller.call(this,l,t);const e=t.freq||25;let i=0,n=null;a.set(this,{}),this.toRGB||(this.toRGB=t.toRGB||(t=>t)),Object.defineProperties(this,{value:{get:()=>i},rgb:{get(){return this.toRGB(i).reduce((t,e,i)=>(t[h[i]]=e,t),{})}}}),\"function\"==typeof this.initialize&&this.initialize(t,t=>{i=t}),setInterval(()=>{if(void 0===i)return;const t={rgb:this.rgb};this.emit(\"data\",t),i!==n&&(n=i,this.emit(\"change\",t))},e)}static hexCode(t){return void 0===t.red||void 0===t.green||void 0===t.blue?null:0===t.length?\"unknown\":h.reduce((e,i)=>e+t[i].toString(16).padStart(2,\"0\"),\"\")}}i.env.IS_TEST_MODE&&(c.Controllers=l,c.purge=()=>{a.clear()}),e.exports=c}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./evshield\":91,\"./fn\":93,\"./mixins/emitter\":113,\"./sip\":127,_process:158}],87:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),{int16:s,RAD_TO_DEG:o,TAU:a}=t(\"./fn\"),l=new Map,h={HMC5883L:{REGISTER:{value:{CRA:0,CRB:1,MODE:2,READ:3}},initialize:{value(t,e){const i=l.get(this),r=t.address||30;i.scale=1,Object.assign(i,new c.Scale(t.gauss||.88)),t.address=r,this.io.i2cConfig(t),this.io.i2cWrite(r,this.REGISTER.CRA,112),this.io.i2cWrite(r,this.REGISTER.CRB,64),this.io.i2cWrite(r,this.REGISTER.MODE,0),this.io.i2cRead(r,this.REGISTER.READ,6,t=>{e({x:s(t[0],t[1]),y:s(t[4],t[5]),z:s(t[2],t[3])})})}},toScaledHeading:{value({x:t,y:e}){const i=l.get(this);return u(t*i.scale,e*i.scale)}}},HMC6352:{REGISTER:{value:{READ:65}},initialize:{value(t,e){const i=l.get(this),r=t.address||33;i.scale=1,t.delay=10,t.address=r,this.io.i2cConfig(t),this.io.i2cWrite(r,this.REGISTER.READ),this.io.i2cRead(r,this.REGISTER.READ,2,t=>{e({x:((t[0]<<8)+t[1])/10|0,y:null,z:null})})}},toScaledHeading:{value({x:t}){return t*l.get(this).scale}}},BNO055:{initialize:{value(e,i){const r=t(\"./sip\").Drivers.get(this.board,\"BNO055\",e);l.get(this).sensitivity=16,r.on(\"data\",({magnetometer:t})=>{i(t)})}},toScaledHeading:{value(t){const e=l.get(this);return u(t.x/e.sensitivity,t.y/e.sensitivity)}}},MAG3110:{REGISTER:{value:{STATUS:0,READ:1,OFFSETS:9,CTRL_REG1:16,CTRL_REG2:17}},initialize:{value(t,e){const i=l.get(this),r=14;let n,o=!1;i.isCalibrated=!1,i.isPreCalibrated=!1,i.hasEmittedCalibration=!1,i.measurements=20,i.offsets={x:0,y:0,z:0},i.accum={x:{offset:null,high:0,low:0},y:{offset:null,high:0,low:0},z:{offset:null,high:0,low:0}},t.delay=2,t.address=r,t.offsets&&(i.isCalibrated=!0,i.isPreCalibrated=!0,Array.isArray(t.offsets)&&(n=t.offsets.slice(),t.offsets={x:n[0],y:n[1],z:n[2]}),i.accum.x.low=t.offsets.x[0],i.accum.x.high=t.offsets.x[1],i.accum.x.offset=(i.accum.x.low+i.accum.x.high)/2,i.accum.y.low=t.offsets.y[0],i.accum.y.high=t.offsets.y[1],i.accum.y.offset=(i.accum.y.low+i.accum.y.high)/2,i.accum.z.low=t.offsets.z[0],i.accum.z.high=t.offsets.z[1],i.accum.z.offset=(i.accum.z.low+i.accum.z.high)/2),this.io.i2cConfig(t),this.io.i2cWrite(r,this.REGISTER.CTRL_REG2,128),this.io.i2cWrite(r,this.REGISTER.CTRL_REG1,1);const a={x:0,y:0,z:0},h=()=>{this.io.i2cReadOnce(r,this.REGISTER.STATUS,1,t=>{o||15!==t[0]&&255!==t[0]?h():(o=!0,this.io.i2cReadOnce(r,this.REGISTER.READ,6,t=>{let n=0;o=!1,a.x=s(t[0],t[1]),a.y=s(t[2],t[3]),a.z=s(t[4],t[5]),i.isCalibrated||(null===i.accum.x.offset&&(i.accum.x.offset=a.x,i.accum.x.low=a.x,i.accum.x.high=a.x),null===i.accum.y.offset&&(i.accum.y.offset=a.y,i.accum.y.low=a.y,i.accum.y.high=a.y),i.accum.x.low=Math.min(i.accum.x.low,a.x),i.accum.x.high=Math.max(i.accum.x.high,a.x),i.accum.x.offset=Math.trunc((i.accum.x.low+i.accum.x.high)/2),i.accum.y.low=Math.min(i.accum.y.low,a.y),i.accum.y.high=Math.max(i.accum.y.high,a.y),i.accum.y.offset=Math.trunc((i.accum.y.low+i.accum.y.high)/2),i.accum.z.low=Math.min(i.accum.z.low,a.z),i.accum.z.high=Math.max(i.accum.z.high,a.z),i.accum.z.offset=Math.trunc((i.accum.z.low+i.accum.z.high)/2),--i.measurements,i.measurements||(i.isCalibrated=!0)),i.isCalibrated&&(i.hasEmittedCalibration||(i.hasEmittedCalibration=!0,i.offsets.x=i.accum.x.offset,i.offsets.y=i.accum.y.offset,i.offsets.z=i.accum.z.offset,this.io.i2cWrite(r,this.REGISTER.OFFSETS,[i.offsets.x>>7,i.offsets.x<<1&255,i.offsets.y>>7,i.offsets.y<<1&255,i.offsets.z>>7,i.offsets.z<<1&255]),this.emit(\"calibrated\",{x:[i.accum.x.low,i.accum.x.high],y:[i.accum.y.low,i.accum.y.high],z:[i.accum.z.low,i.accum.z.high]})),n=Math.floor(12.5),e(a)),setTimeout(h,n)}))})};h()}},calibrate:{value(t){const e=l.get(this);e.isCalibrated=!1,e.measurements=t}},toScaledHeading:{value({y:t,x:e}){const i=l.get(this),r=1/(i.accum.x.high-i.accum.x.low),n=1/(i.accum.y.high-i.accum.y.low);let s=Math.atan2(-t*n,e*r);return s<0&&(s+=a),Math.trunc(s*o)}}},LSM303C:{initialize:{value(e,i){t(\"./sip\").Drivers.get(this.board,\"LSM303C\",e).on(\"data\",({magnetometer:t})=>{i(t)})}},toScaledHeading:{value:({x:t,y:e})=>u(t,e)}}};class c extends n{constructor(t){super(),r.Component.call(this,t=r.Options(t));const e=t.freq||25;let i={x:null,y:null,z:null};const n={x:0,y:0,z:0,scale:0,register:0,heading:0};r.Controller.call(this,h,t),this.toScaledHeading||(this.toScaledHeading=t.toScaledHeading||(t=>t)),l.set(this,n),\"function\"==typeof this.initialize&&this.initialize(t,t=>i=t),setInterval(()=>{if(null===i.x)return;let t=!1;n.x=i.x,n.y=i.y,n.z=i.z;const e=this.heading;e!==n.heading&&(n.heading=e,t=!0),this.emit(\"data\",{heading:e}),t&&this.emit(\"change\",{heading:e})},e),Object.defineProperties(this,{bearing:{get(){const t=c.Points.length,e=this.heading;let i;for(let r=0;r=i.low&&e<=i.high)return{name:i.name,abbr:i.abbr,low:i.low,high:i.high,heading:e}}},raw:{get:()=>({x:i.x,y:i.y,z:i.z})},heading:{get(){return this.toScaledHeading(i)}}})}}function u(t,e){let i=Math.atan2(e,t);return i<0&&(i+=a),i>a&&(i-=a),i*o}c.Scale=class{constructor(t){.88===t?(this.register=0,this.scale=.73):1.3===t?(this.register=1,this.scale=.92):1.9===t?(this.register=2,this.scale=1.22):2.5===t?(this.register=3,this.scale=1.52):4===t?(this.register=4,this.scale=2.27):4.7===t?(this.register=5,this.scale=2.56):5.6===t?(this.register=6,this.scale=3.03):8.1===t?(this.register=7,this.scale=4.35):(this.register=0,this.scale=1),this.register=this.register<<5}},c.Points=[{name:\"North\",abbr:\"N\",low:354.38,high:360},{name:\"North\",abbr:\"N\",low:0,high:5.62},{name:\"North by East\",abbr:\"NbE\",low:5.63,high:16.87},{name:\"North-NorthEast\",abbr:\"NNE\",low:16.88,high:28.12},{name:\"NorthEast by North\",abbr:\"NEbN\",low:28.13,high:39.37},{name:\"NorthEast\",abbr:\"NE\",low:39.38,high:50.62},{name:\"NorthEast by East\",abbr:\"NEbE\",low:50.63,high:61.87},{name:\"East-NorthEast\",abbr:\"ENE\",low:61.88,high:73.12},{name:\"East by North\",abbr:\"EbN\",low:73.13,high:84.37},{name:\"East\",abbr:\"E\",low:84.38,high:95.62},{name:\"East by South\",abbr:\"EbS\",low:95.63,high:106.87},{name:\"East-SouthEast\",abbr:\"ESE\",low:106.88,high:118.12},{name:\"SouthEast by East\",abbr:\"SEbE\",low:118.13,high:129.37},{name:\"SouthEast\",abbr:\"SE\",low:129.38,high:140.62},{name:\"SouthEast by South\",abbr:\"SEbS\",low:140.63,high:151.87},{name:\"South-SouthEast\",abbr:\"SSE\",low:151.88,high:163.12},{name:\"South by East\",abbr:\"SbE\",low:163.13,high:174.37},{name:\"South\",abbr:\"S\",low:174.38,high:185.62},{name:\"South by West\",abbr:\"SbW\",low:185.63,high:196.87},{name:\"South-SouthWest\",abbr:\"SSW\",low:196.88,high:208.12},{name:\"SouthWest by South\",abbr:\"SWbS\",low:208.13,high:219.37},{name:\"SouthWest\",abbr:\"SW\",low:219.38,high:230.62},{name:\"SouthWest by West\",abbr:\"SWbW\",low:230.63,high:241.87},{name:\"West-SouthWest\",abbr:\"WSW\",low:241.88,high:253.12},{name:\"West by South\",abbr:\"WbS\",low:253.13,high:264.37},{name:\"West\",abbr:\"W\",low:264.38,high:275.62},{name:\"West by North\",abbr:\"WbN\",low:275.63,high:286.87},{name:\"West-NorthWest\",abbr:\"WNW\",low:286.88,high:298.12},{name:\"NorthWest by West\",abbr:\"NWbW\",low:298.13,high:309.37},{name:\"NorthWest\",abbr:\"NW\",low:309.38,high:320.62},{name:\"NorthWest by North\",abbr:\"NWbN\",low:320.63,high:331.87},{name:\"North-NorthWest\",abbr:\"NNW\",low:331.88,high:343.12},{name:\"North by West\",abbr:\"NbW\",low:343.13,high:354.37}],Object.freeze(c.Points),i.env.IS_TEST_MODE&&(c.Controllers=h,c.purge=()=>{l.clear()}),e.exports=c}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./fn\":93,\"./mixins/emitter\":113,\"./sip\":127,_process:158}],88:[function(t,e,i){e.exports={MAPS:{MPR121QR2_SHIELD:{KEYS:{0:1,1:2,2:3,3:4,4:5,5:6,6:7,7:8,8:9},TARGETS:{256:0,32:1,4:2,128:3,16:4,2:5,64:6,8:7,1:8}},MPR121:{KEYS:{0:0,1:1,2:2,3:3,4:4,5:5,6:6,7:7,8:8,9:9,10:10,11:11},TARGETS:{1:0,2:1,4:2,8:3,16:4,32:5,64:6,128:7,256:8,512:9,1024:10,2048:11}},MPR121_KEYPAD:{KEYS:{0:1,1:2,2:3,3:4,4:5,5:6,6:7,7:8,8:9,9:10,10:11,11:12},TARGETS:{8:0,128:1,2048:2,4:3,64:4,1024:5,2:6,32:7,512:8,1:9,16:10,256:11}},MPR121_SHIELD:{KEYS:{0:0,1:1,2:2,3:3,4:4,5:5,6:6,7:7,8:8,9:9,10:10,11:11},TARGETS:{1:0,2:1,4:2,8:3,16:4,32:5,64:6,128:7,256:8,512:9,1024:10,2048:11}}},MPR121_DEFAULT_ADDRESS:90,MPR121_SOFTRESET:128,ELE0_ELE7_TOUCH_STATUS:0,ELE8_ELE11_ELEPROX_TOUCH_STATUS:1,ELE0_7_OOR_STATUS:2,ELE8_11_ELEPROX_OOR_STATUS:3,ELE0_FILTERED_DATA_LSB:4,ELE0_FILTERED_DATA_MSB:5,ELE1_FILTERED_DATA_LSB:6,ELE1_FILTERED_DATA_MSB:7,ELE2_FILTERED_DATA_LSB:8,ELE2_FILTERED_DATA_MSB:9,ELE3_FILTERED_DATA_LSB:10,ELE3_FILTERED_DATA_MSB:11,ELE4_FILTERED_DATA_LSB:12,ELE4_FILTERED_DATA_MSB:13,ELE5_FILTERED_DATA_LSB:14,ELE5_FILTERED_DATA_MSB:15,ELE6_FILTERED_DATA_LSB:16,ELE6_FILTERED_DATA_MSB:17,ELE7_FILTERED_DATA_LSB:18,ELE7_FILTERED_DATA_MSB:19,ELE8_FILTERED_DATA_LSB:20,ELE8_FILTERED_DATA_MSB:21,ELE9_FILTERED_DATA_LSB:22,ELE9_FILTERED_DATA_MSB:23,ELE10_FILTERED_DATA_LSB:24,ELE10_FILTERED_DATA_MSB:25,ELE11_FILTERED_DATA_LSB:26,ELE11_FILTERED_DATA_MSB:27,ELEPROX_FILTERED_DATA_LSB:28,ELEPROX_FILTERED_DATA_MSB:29,ELE0_BASELINE_VALUE:30,ELE1_BASELINE_VALUE:31,ELE2_BASELINE_VALUE:32,ELE3_BASELINE_VALUE:33,ELE4_BASELINE_VALUE:34,ELE5_BASELINE_VALUE:35,ELE6_BASELINE_VALUE:36,ELE7_BASELINE_VALUE:37,ELE8_BASELINE_VALUE:38,ELE9_BASELINE_VALUE:39,ELE10_BASELINE_VALUE:40,ELE11_BASELINE_VALUE:41,ELEPROX_BASELINE_VALUE:42,MHD_RISING:43,NHD_AMOUNT_RISING:44,NCL_RISING:45,FDL_RISING:46,MHD_FALLING:47,NHD_AMOUNT_FALLING:48,NCL_FALLING:49,FDL_FALLING:50,NHD_AMOUNT_TOUCHED:51,NCL_TOUCHED:52,FDL_TOUCHED:53,ELEPROX_MHD_RISING:54,ELEPROX_NHD_AMOUNT_RISING:55,ELEPROX_NCL_RISING:56,ELEPROX_FDL_RISING:57,ELEPROX_MHD_FALLING:58,ELEPROX_NHD_AMOUNT_FALLING:59,ELEPROX_FDL_FALLING:60,ELEPROX_NHD_AMOUNT_TOUCHED:62,ELEPROX_NCL_TOUCHED:63,ELEPROX_FDL_TOUCHED:64,ELE0_TOUCH_THRESHOLD:65,ELE0_RELEASE_THRESHOLD:66,ELE1_TOUCH_THRESHOLD:67,ELE1_RELEASE_THRESHOLD:68,ELE2_TOUCH_THRESHOLD:69,ELE2_RELEASE_THRESHOLD:70,ELE3_TOUCH_THRESHOLD:71,ELE3_RELEASE_THRESHOLD:72,ELE4_TOUCH_THRESHOLD:73,ELE4_RELEASE_THRESHOLD:74,ELE5_TOUCH_THRESHOLD:75,ELE5_RELEASE_THRESHOLD:76,ELE6_TOUCH_THRESHOLD:77,ELE6_RELEASE_THRESHOLD:78,ELE7_TOUCH_THRESHOLD:79,ELE7_RELEASE_THRESHOLD:80,ELE8_TOUCH_THRESHOLD:81,ELE8_RELEASE_THRESHOLD:82,ELE9_TOUCH_THRESHOLD:83,ELE9_RELEASE_THRESHOLD:84,ELE10_TOUCH_THRESHOLD:85,ELE10_RELEASE_THRESHOLD:86,ELE11_TOUCH_THRESHOLD:87,ELE11_RELEASE_THRESHOLD:88,ELEPROX_TOUCH_THRESHOLD:89,ELEPROX_RELEASE_THRESHOLD:90,DEBOUNCE_TOUCH_AND_RELEASE:91,AFE_CONFIGURATION:92,FILTER_CONFIG:93,ELECTRODE_CONFIG:94,ELE0_CURRENT:95,ELE1_CURRENT:96,ELE2_CURRENT:97,ELE3_CURRENT:98,ELE4_CURRENT:99,ELE5_CURRENT:100,ELE6_CURRENT:101,ELE7_CURRENT:102,ELE8_CURRENT:103,ELE9_CURRENT:104,ELE10_CURRENT:105,ELE11_CURRENT:106,ELEPROX_CURRENT:107,ELE0_ELE1_CHARGE_TIME:108,ELE2_ELE3_CHARGE_TIME:109,ELE4_ELE5_CHARGE_TIME:110,ELE6_ELE7_CHARGE_TIME:111,ELE8_ELE9_CHARGE_TIME:112,ELE10_ELE11_CHARGE_TIME:113,ELEPROX_CHARGE_TIME:114,GPIO_CONTROL_0:115,GPIO_CONTROL_1:116,GPIO_DATA:117,GPIO_DIRECTION:118,GPIO_ENABLE:119,GPIO_SET:120,GPIO_CLEAR:121,GPIO_TOGGLE:122,AUTO_CONFIG_CONTROL_0:123,AUTO_CONFIG_CONTROL_1:124,AUTO_CONFIG_USL:125,AUTO_CONFIG_LSL:126,AUTO_CONFIG_TARGET_LEVEL:127,TOUCH_THRESHOLD:15,RELEASE_THRESHOLD:10,NUM_CHANNELS:12}},{}],89:[function(t,e,i){const r=1.70158,n=2.5949095,s=7.5625,o=.5,{PI:a,cos:l,sin:h,sqrt:c}=Math,u={linear:t=>t,inQuad:t=>t*t,outQuad:t=>t*(2-t),inOutQuad:t=>(t*=2)<1?o*t*t:-.5*(--t*(t-2)-1),inCube:t=>t*t*t,outCube:t=>--t*t*t+1,inOutCube:t=>(t*=2)<1?o*(t*t*t):o*((t-=2)*t*t+2),inQuart:t=>t*t*t*t,outQuart:t=>1- --t*(t*t*t),inOutQuart:t=>(t*=2)<1?o*(t*t*t*t):-.5*((t-=2)*(t*t*t)-2),inQuint:t=>t*t*t*t*t,outQuint:t=>--t*(t*t*t*t)+1,inOutQuint:t=>(t*=2)<1?o*(t*t*t*t*t):o*((t-=2)*(t*t*t*t)+2),inSine:t=>1-l(t*a/2),outSine:t=>h(t*a/2),inOutSine:t=>o*(1-l(a*t)),inExpo:t=>0===t?0:Math.pow(1024,t-1),outExpo:t=>1===t?t:1-Math.pow(2,-10*t),inOutExpo:t=>0===t?0:1===t?1:(t*=2)<1?o*Math.pow(1024,t-1):o*(2-Math.pow(2,-10*(t-1))),inCirc:t=>1-c(1-t*t),outCirc:t=>c(1- --t*t),inOutCirc:t=>(t*=2)<1?-.5*(c(1-t*t)-1):o*(c(1-(t-=2)*t)+1),inBack:t=>t*t*((r+1)*t-r),outBack:t=>--t*t*((r+1)*t+r)+1,inOutBack:t=>(t*=2)<1?o*(t*t*((n+1)*t-n)):o*((t-=2)*t*((n+1)*t+n)+2),outBounce:t=>t<1/2.75?s*t*t:t<2/2.75?s*(t-=1.5/2.75)*t+.75:t<2.5/2.75?s*(t-=2.25/2.75)*t+.9375:s*(t-=2.625/2.75)*t+.984375,inBounce:t=>1-u.outBounce(1-t),inOutBounce:t=>t{d[t.toLowerCase()]=u[t]}),e.exports=new Proxy({},{get:(t,e)=>d[e.replace(/([a-z])([A-Z])/g,\"$1$2\").toLowerCase()]})},{}],90:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./expander\"),s=r.Pins,o=t(\"./mixins/collection\"),{scale:a,fscale:l,constrain:h}=t(\"./fn\"),c=new Map,u={PCA9685:{initialize:{value:function(t){const e=c.get(this);this.address=t.address||64,this.pwmRange=t.pwmRange||[1e3,2e3],this.frequency=t.frequency||50,e.expander=n.get({address:this.address,controller:this.controller,bus:this.bus,pwmRange:this.pwmRange,frequency:this.frequency}),this.pin=e.expander.normalize(t.pin)}},update:{writable:!0,value:function(t){c.get(this).expander.servoWrite(this.pin,t)}}},DEFAULT:{initialize:{value:function(t){t.debug&&!this.board.pins.isServo(this.pin)&&r.Pins.Error({pin:this.pin,type:\"PWM\",via:\"Servo\"}),this.io.servoConfig(this.pin,this.pwmRange[0],this.pwmRange[1])}},update:{writable:!0,value:function(t){this.io.servoWrite(this.pin,t)}}}},d=\"FORWARD\",p=\"FORWARD_REVERSE\",f=\"FORWARD_BRAKE_REVERSE\",g={[d]:{device:{value:d}},[p]:{device:{value:p}},[f]:{device:{value:f}}};class m{constructor(t){if(!(this instanceof m))return new m(t);let e;r.Component.call(this,t=r.Options(t)),void 0===t.controller&&s.isFirmata(this)&&(\"string\"==typeof e&&e.length>1&&\"A\"===e[0]&&(e=this.io.analogPins[+e.slice(1)]),e=+e,Number.isNaN(e)||this.pin===e||(this.pin=e)),r.Controller.call(this,u,t),Object.defineProperties(this,t.device&&g[t.device]||g.FORWARD),this.pwmRange=t.pwmRange||[1e3,2e3],this.neutral=t.neutral,c.set(this,{}),this.initialize(t);const[i,n]=this.pwmRange;if(void 0!==this.neutral&&this.neutral<=100&&(this.neutral=a(this.neutral,0,100,i,n)),void 0===this.neutral&&(this.neutral=(i+n)/2),this.neutral=h(this.neutral,i,n),this.device===p&&this.neutral===i)throw new Error(\"Bidirectional (FORWARD_REVERSE) speed controllers require a non-zero neutral point\");this.device===d&&(this.neutral=i),this.throttle(this.neutral)}throttle(t){if(t>0&&t<=100){if(\"FORWARD\"!==this.device)throw new Error(\"Bidirectional (FORWARD_REVERSE, FORWARD_*_REVERSE) speed controllers require a pulse in usec\");t=l(t,0,100,this.pwmRange[0],this.pwmRange[1])}return this.update(h(t,this.pwmRange[0],this.pwmRange[1])),this}brake(){return this.update(this.neutral),this}}class y extends o{constructor(t){super(t)}get type(){return m}}o.installMethodForwarding(y.prototype,m.prototype),m.Collection=y,i.env.IS_TEST_MODE&&(m.Controllers=u,m.purge=function(){c.clear()}),e.exports=m}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./expander\":92,\"./fn\":93,\"./mixins/collection\":112,_process:158}],91:[function(t,e,i){const r=t(\"./mixins/emitter\");let n;class s{constructor(t){this.address=t.address,this.io=t.io,this.io.i2cConfig(t)}read(t,e,i){t?this.io.i2cRead(this.address,t,e,i):this.io.i2cRead(this.address,e,i)}write(t,e){Array.isArray(e)||(e=[e]),this.io.i2cWrite(this.address,t,e)}}class o extends r{constructor({io:t}){if(super(),n)return n;this.bank={a:new s({address:o.BANK_A,io:t}),b:new s({address:o.BANK_B,io:t})},n=this}setup({bank:t,mode:e},i){this.bank[t].write(e,[i])}read(t,e,i,r){t.sensor&&t.offset&&!o.isRawSensor(t)&&(e+=t.offset),this.bank[t.bank].read(e,i,r)}write({bank:t},e,i){this.bank[t].write(e,i)}}o.shieldPort=t=>{const e=o[t];if(void 0===e)throw new Error(\"Invalid EVShield pin name\");let i,r,n,s,a,l,h,c=!1;return t.startsWith(\"BA\")?(i=o.BANK_A,n=\"a\"):(i=o.BANK_B,n=\"b\"),t.includes(\"M\")&&(s=t.endsWith(\"M1\")?o.S1:o.S2),t.includes(\"S\")&&(c=t.endsWith(\"S1\"),r=c?o.S1_ANALOG:o.S2_ANALOG,a=c?o.S1_MODE:o.S2_MODE,l=c?o.S1_OFFSET:o.S2_OFFSET,h=c?o.S1:o.S2),{address:i,analog:r,bank:n,mode:a,motor:s,offset:l,port:e,sensor:h}},o.isRawSensor=({analog:t})=>t===o.S1_ANALOG||t===o.S2_ANALOG,o.BAS1=1,o.BAS2=2,o.BBS1=3,o.BBS2=4,o.BAM1=5,o.BAM2=6,o.BBM1=7,o.BBM2=8,o.BANK_A=26,o.BANK_B=27,o.S1=1,o.S2=2,o.M1=1,o.M2=2,o.MM=3,o.Type_NONE=0,o.Type_SWITCH=1,o.Type_ANALOG=2,o.Type_I2C=9,o.Type_NXT_LIGHT_REFLECTED=3,o.Type_NXT_LIGHT=4,o.Type_NXT_COLOR=13,o.Type_NXT_COLOR_RGBRAW=4,o.Type_NXT_COLORRED=14,o.Type_NXT_COLORGREEN=15,o.Type_NXT_COLORBLUE=16,o.Type_NXT_COLORNONE=17,o.Type_DATABIT0_HIGH=64,o.S1_MODE=111,o.S1_ANALOG=112,o.S1_OFFSET=0,o.S2_MODE=163,o.S2_ANALOG=164,o.S2_OFFSET=52,o.Type_EV3_LIGHT_REFLECTED=0,o.Type_EV3_LIGHT=1,o.Type_EV3_COLOR=2,o.Type_EV3_COLOR_REFRAW=3,o.Type_EV3_COLOR_RGBRAW=4,o.Type_EV3_TOUCH=18,o.Type_EV3=19,o.Light=131,o.Bump=132,o.ColorMeasure=131,o.Proximity=131,o.Touch=131,o.Ultrasonic=129,o.Mode=129,o.Light_Bytes=2,o.Analog_Bytes=2,o.Bump_Bytes=1,o.ColorMeasure_Bytes=2,o.Proximity_Bytes=2,o.Touch_Bytes=1,o.Motor_1=1,o.Motor_2=2,o.Motor_Both=3,o.Motor_Next_Action_Float=0,o.Motor_Next_Action_Brake=1,o.Motor_Next_Action_BrakeHold=2,o.Motor_Stop=96,o.Motor_Reset=82,o.Motor_Reverse=0,o.Motor_Forward=1,o.Motor_Move_Absolute=0,o.Motor_Move_Relative=1,o.Motor_Completion_Dont_Wait=0,o.Motor_Completion_Wait_For=1,o.Speed_Full=90,o.Speed_Medium=60,o.Speed_Slow=25,o.CONTROL_SPEED=1,o.CONTROL_RAMP=2,o.CONTROL_RELATIVE=4,o.CONTROL_TACHO=8,o.CONTROL_BRK=16,o.CONTROL_ON=32,o.CONTROL_TIME=64,o.CONTROL_GO=128,o.STATUS_SPEED=1,o.STATUS_RAMP=2,o.STATUS_MOVING=4,o.STATUS_TACHO=8,o.STATUS_BREAK=16,o.STATUS_OVERLOAD=32,o.STATUS_TIME=64,o.STATUS_STALL=128,o.COMMAND=65,o.VOLTAGE=110,o.SETPT_M1=66,o.SPEED_M1=70,o.TIME_M1=71,o.CMD_B_M1=72,o.CMD_A_M1=73,o.SETPT_M2=74,o.SPEED_M2=78,o.TIME_M2=79,o.CMD_B_M2=80,o.CMD_A_M2=81,o.POSITION_M1=82,o.POSITION_M2=86,o.STATUS_M1=90,o.STATUS_M2=91,o.TASKS_M1=92,o.TASKS_M2=93,o.ENCODER_PID=94,o.SPEED_PID=100,o.PASS_COUNT=106,o.TOLERANCE=107,o.BTN_PRESS=218,o.RGB_LED=215,o.CENTER_RGB_LED=222,e.exports=o},{\"./mixins/emitter\":113}],92:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),s=t(\"./sleep\"),o=t(\"./fn\"),a=new Map,l=new Map;class h extends n{constructor(){super(),this.HIGH=1,this.LOW=0,this.isReady=!1,this.MODES={},this.pins=[],this.analogPins=[]}}const c={DEFAULT:{initialize:{value(){throw new Error(\"Expander expects a valid controller\")}}},MCP23017:{ADDRESSES:{value:[32]},REGISTER:{value:{IODIRA:0,GPPUA:12,GPIOA:18,OLATA:20,IODIRB:1,GPPUB:13,GPIOB:19,OLATB:21}},initialize:{value(t){const e=a.get(this);e.iodir=[255,255],e.olat=[255,255],e.gpio=[255,255],e.gppu=[0,0],this.address=t.address||this.ADDRESSES[0],t.address=this.address,this.io.i2cConfig(t),this.io.i2cWrite(this.address,[this.REGISTER.IODIRA,e.iodir[this.REGISTER.IODIRA]]),this.io.i2cWrite(this.address,[this.REGISTER.IODIRB,e.iodir[this.REGISTER.IODIRB]]),Object.assign(this.MODES,this.io.MODES);for(let t=0;t<16;t++)this.pins.push({supportedModes:[this.MODES.INPUT,this.MODES.OUTPUT],mode:0,value:0,report:0,analogChannel:127}),this.pinMode(t,this.MODES.OUTPUT),this.digitalWrite(t,this.LOW);this.name=\"MCP23017\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value:t=>t},pinMode:{value(t,e){const i=a.get(this),r=t;let n=0,s=null;t<8?n=this.REGISTER.IODIRA:(n=this.REGISTER.IODIRB,t-=8),s=i.iodir[n],e===this.io.MODES.INPUT?s|=1<{const r=e[0]>>t&1;this.pins[i].value=r,this.emit(`digital-read-${i}`,r)})}}},MCP23008:{ADDRESSES:{value:[32]},REGISTER:{value:{IODIR:0,GPPU:6,GPIO:9,OLAT:10}},initialize:{value(t){const e=a.get(this);e.iodir=[255],e.olat=[255],e.gpio=[255],e.gppu=[0],this.address=t.address||this.ADDRESSES[0],t.address=this.address,this.io.i2cConfig(t),this.io.i2cWrite(this.address,[this.REGISTER.IODIR,e.iodir[this.REGISTER.IODIR]]),Object.assign(this.MODES,this.io.MODES);for(let t=0;t<8;t++)this.pins.push({supportedModes:[this.MODES.INPUT,this.MODES.OUTPUT],mode:0,value:0,report:0,analogChannel:127}),this.pinMode(t,this.MODES.OUTPUT),this.digitalWrite(t,this.LOW);this.name=\"MCP23008\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value:t=>t},pinMode:{value(t,e){const i=a.get(this),r=t,n=this.REGISTER.IODIR;let s=i.iodir[n];e===this.io.MODES.INPUT?s|=1<{const r=e[0]>>t&1;this.pins[i].value=r,this.emit(`digital-read-${t}`,r)})}}},PCF8574:{ADDRESSES:{value:[32]},REGISTER:{},initialize:{value(t){const e=a.get(this);e.port=0,e.ddr=0,e.pins=0,this.address=t.address||this.ADDRESSES[0],t.address=this.address,this.io.i2cConfig(t),Object.assign(this.MODES,this.io.MODES);for(let t=0;t<8;t++)this.pins.push({supportedModes:[this.MODES.INPUT,this.MODES.OUTPUT],mode:1,value:0,report:0,analogChannel:127}),this.pinMode(t,this.MODES.OUTPUT),this.digitalWrite(t,this.LOW);this.name=\"PCF8574\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value:t=>t},pinMode:{value(t,e){const i=a.get(this),r=t;let n=i.port,s=i.ddr;const o=i.pins;e===this.MODES.INPUT?(s&=~(1<{const n=e[0],s=n>>t&1;i.pins=n,this.pins[r].value=s,this.emit(`digital-read-${t}`,s)})}}},PCF8575:{ADDRESSES:{value:[32]},REGISTER:{},initialize:{value(t){const e=a.get(this);e.port=[0,1],e.gpio=[0,0],this.address=t.address||this.ADDRESSES[0],t.address=this.address,this.io.i2cConfig(t),Object.assign(this.MODES,this.io.MODES);for(let t=0;t<16;t++)this.pins.push({supportedModes:[this.MODES.INPUT,this.MODES.OUTPUT],mode:1,value:0,report:0,analogChannel:127}),this.pinMode(t,this.MODES.OUTPUT),this.digitalWrite(t,this.LOW);this.io.i2cWrite(this.address,e.gpio),this.name=\"PCF8575\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value:t=>t},pinMode:{value(t,e){const i=t;this.pins[i].mode=e}},digitalWrite:{value(t,e){const i=a.get(this),r=t;let n;t<8?n=0:(n=1,t-=8),e===this.io.HIGH?i.gpio[n]|=1<{const n=e[r]>>t&1;this.pins[i].value=n,this.emit(`digital-read-${t}`,n)})}}},PCA9685:{ADDRESSES:{value:[64]},REGISTER:{value:{MODE1:0,PRESCALE:254,BASE:6}},initialize:{value(t){const e=a.get(this);e.frequency=o.constrain(t.frequency||1526,24,1526),this.address=t.address||this.ADDRESSES[0],this.pwmRange=t.pwmRange||[0,4095],Object.defineProperties(this,{prescale:{get:()=>Math.round(25e6/(4096*e.frequency))-1},frequency:{get:()=>e.frequency}}),t.address=this.address,this.io.i2cConfig(t),this.io.i2cWriteReg(this.address,this.REGISTER.MODE1,0),this.io.i2cWriteReg(this.address,this.REGISTER.MODE1,16),this.io.i2cWriteReg(this.address,this.REGISTER.PRESCALE,this.prescale),this.io.i2cWriteReg(this.address,this.REGISTER.MODE1,0),s.micro(5),this.io.i2cWriteReg(this.address,this.REGISTER.MODE1,160),Object.assign(this.MODES,this.io.MODES);for(let t=0;t<16;t++)this.pins.push({supportedModes:[this.MODES.OUTPUT,this.MODES.PWM,this.MODES.SERVO],mode:0,value:0,report:0,analogChannel:127}),this.pinMode(t,this.MODES.OUTPUT),this.digitalWrite(t,this.LOW);this.name=\"PCA9685\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value(t){return this.io.name.includes(\"Tessel 2\")?t-1:t}},pinMode:{value(t,e){if(void 0===this.pins[t])throw new RangeError(`Invalid PCA9685 pin: ${t}`);this.pins[t].mode=e}},digitalWrite:{value(t,e){this.pwmWrite(t,e?255:0)}},analogWrite:{value(t,e){this.pwmWrite(t,e)}},servoWrite:{value(t,e){let i;e<544?(e=o.constrain(e,0,180),i=o.map(e,0,180,this.pwmRange[0]/4,this.pwmRange[1]/4)):i=e/4,i|=0,this.io.i2cWrite(this.address,[this.REGISTER.BASE+4*t,0,0,i,i>>8])}},pwmWrite:{value(t,e){if(void 0===this.pins[t])throw new RangeError(`Invalid PCA9685 pin: ${t}`);e=o.constrain(e,0,255);let i=0,r=this.pwmRange[1]*e/255;0===e&&(i=0,r=4096),255===e&&(i=4096,r=0),this.io.i2cWrite(this.address,[this.REGISTER.BASE+4*t,i,i>>8,r,r>>8]),this.pins[t].value=e}}},PCF8591:{ADDRESSES:{value:[72]},REGISTER:{},initialize:{value(t){const e=a.get(this);e.control=69,e.reading=!1,this.address=t.address||this.ADDRESSES[0],t.address=this.address,this.io.i2cConfig(t),Object.assign(this.MODES,this.io.MODES);for(let t=0;t<4;t++)this.pins.push({supportedModes:[this.MODES.ANALOG],mode:1,value:0,report:0,analogChannel:t});this.analogPins.push(0,1,2,3),this.io.i2cWrite(this.address,e.control),this.name=\"PCF8591\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value:t=>\"string\"==typeof t&&\"A\"===t[0]?+t.slice(1):t},pinMode:{value(t,e){this.pins[t].mode=e}},analogRead:{value(t,e){const i=a.get(this),r=t;this.pins[r].report=1,this.on(`analog-read-${t}`,e),i.reading||(i.reading=!0,this.io.i2cRead(this.address,4,t=>{let e;for(let i=0;i<4;i++)e=t[i]<<2,this.pins[i].value=e,this.pins[i].report&&this.emit(`analog-read-${i}`,e)}))}}},MUXSHIELD2:{initialize:{value(){const t=a.get(this);t.select=[2,4,6,7],t.ios=[null,10,11,12],t.io=[null,14,15,16],t.aio=[null,0,1,2],t.outMode=8,t.pinMap={},t.rowReading=[!1,!1,!1],t.rowMode=[null,null,null],t.rowValues=[0,0,0],Object.assign(this.MODES,{INPUT:0,OUTPUT:1,ANALOG:2}),this.io.pinMode(t.select[0],this.MODES.OUTPUT),this.io.pinMode(t.select[1],this.MODES.OUTPUT),this.io.pinMode(t.select[2],this.MODES.OUTPUT),this.io.pinMode(t.select[3],this.MODES.OUTPUT),this.io.pinMode(t.outMode,this.MODES.OUTPUT),this.io.digitalWrite(t.outMode,this.LOW),this.io.pinMode(t.ios[1],this.MODES.OUTPUT),this.io.pinMode(t.ios[2],this.MODES.OUTPUT),this.io.pinMode(t.ios[3],this.MODES.OUTPUT);let e=1,i=16,r=0;for(let n=0;n<48;n++){(n&i)===i&&(e++,i*=2,r=0),t.pinMap[`IO${e}-${r}`]=n,this.pins.push({row:e,index:r,supportedModes:[this.MODES.INPUT,this.MODES.OUTPUT,this.MODES.ANALOG],mode:1,value:0,report:0,analogChannel:n}),this.analogPins.push(n),r++}this.name=\"MUXSHIELD2\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value:t=>t},pinMode:{value(t,e){const i=a.get(this),r=i.pinMap[t];if(void 0===r)throw new Error(`MUXSHIELD2: Invalid Pin number or name: ${t}`);const n=this.pins[r].row,s=n-1,o=i.rowMode[s];if(o===e)return this;if(null!==o&&o!==e)throw new Error(\"MUXSHIELD2: Cannot set mixed modes per IO row.\");i.rowMode[s]=e;for(let t=0;t<16;t++)this.pins[s+t].mode=e;const l=i.io[n],h=i.ios[n];e===this.MODES.INPUT&&this.io.pinMode(l,this.MODES.INPUT),e===this.MODES.OUTPUT&&(this.io.pinMode(l,this.MODES.OUTPUT),this.io.digitalWrite(h,this.HIGH))}},digitalWrite:{value(t,e){const i=a.get(this),r=i.pinMap[t];if(void 0===r)throw new Error(`MUXSHIELD2: Invalid Pin number or name: ${t}`);const n=this.pins[r].row,s=n-1;let o=i.rowValues[s];const l=r-16*(n-1);e?o|=1<=0;t--)this.io.digitalWrite(h,this.LOW),this.io.digitalWrite(c,o>>t&1),this.io.digitalWrite(h,this.HIGH);this.io.digitalWrite(i.select[3],this.HIGH),this.io.digitalWrite(i.outMode,this.LOW),this.pins[r].value=e,i.rowValues[s]=o}},digitalRead:{value(t,e){this.ioRead(\"digital\",t,e)}},analogRead:{value(t,e){this.ioRead(\"analog\",t,e)}},ioRead:{value(t,e,i){const r=a.get(this),n=r.pinMap[e];if(void 0===n)throw new Error(`MUXSHIELD2: Invalid Pin number or name: ${e}`);this.on(`${t}-read-${n}`,i);const s=\"analog\"===t,o=this.pins[n].row-1,l=n-16*o;this.pins[n].report=1,this.pins[n].channel=l,this.pins[n].ioPin=s?o:o+14;const h=()=>{for(let t=h.lastPinIndex+1;t{const i=h.lastPinIndex,r=this.pins[i];this.emit(`${t}-read-${i}`,e),this.io.removeListener(`${t}-read-${r.ioPin}`,c),setTimeout(u,10)};var u=()=>{const t=h(),e=this.pins[t];this.select(e.channel),s?(this.io.pinMode(e.ioPin,this.io.MODES.ANALOG),this.io.analogRead(e.ioPin,c)):this.io.digitalRead(e.ioPin,c)};r.rowReading[o]||(r.rowReading[o]=!0,u())}},select:{value(t){const e=a.get(this);this.io.digitalWrite(e.outMode,this.LOW),this.io.digitalWrite(e.select[0],1&t),this.io.digitalWrite(e.select[1],(3&t)>>1),this.io.digitalWrite(e.select[2],(7&t)>>2),this.io.digitalWrite(e.select[3],(15&t)>>3)}}},GROVEPI:{ADDRESSES:{value:[4]},REGISTER:{},COMMANDS:{value:{DIGITAL_READ:1,DIGITAL_WRITE:2,ANALOG_READ:3,ANALOG_WRITE:4,PIN_MODE:5,PING_READ:7}},initialize:{value(t){const e=a.get(this);let i;e.isReading=!1,e.pinMap={D2:2,D3:3,D4:4,D5:5,D6:6,D7:7,D8:8,A0:14,A1:15,A2:16},this.isPwm=t=>{const e=\"number\"==typeof t?t:parseInt(t[1]);return 3===e||5===e||6===e},this.address=t.address||this.ADDRESSES[0],t.address=this.address,this.io.i2cConfig(t),Object.assign(this.MODES,this.io.MODES);for(let t=0;t<17;t++)i=127,t<=1||t>=9&&t<14?this.pins.push({supportedModes:[],mode:0,value:0,report:0,analogChannel:127}):(this.pins.push({supportedModes:[this.MODES.INPUT,this.MODES.OUTPUT],mode:0,value:0,report:0,analogChannel:127}),this.isPwm(t)&&this.pins[t].supportedModes.push(this.MODES.PWM),t>=14&&t<=17?(this.pins[t].analogChannel=t-14,this.pins[t].supportedModes.push(this.MODES.ANALOG),this.analogPins.push(t),this.pinMode(`A${this.pins[t].analogChannel}`,this.MODES.ANALOG)):(this.pinMode(`D${t}`,this.MODES.OUTPUT),this.digitalWrite(`D${t}`,this.LOW)));this.name=\"GROVEPI\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value:t=>t},pinMode:{value(t,e){const i=a.get(this).pinMap[t];e===this.io.MODES.INPUT||e===this.io.MODES.ANALOG?this.pins[i].mode=0:this.pins[i].mode=1,this.io.i2cWrite(this.address,[this.COMMANDS.PIN_MODE,i,this.pins[i].mode,0])}},digitalWrite:{value(t,e){const i=a.get(this).pinMap[t];e=e?1:0,this.io.i2cWrite(this.address,[this.COMMANDS.DIGITAL_WRITE,i,e,0]),this.pins[i].value=e}},ioRead:{value(t,e,i){const r=a.get(this),n=r.pinMap[t],s=\"analog\"===e,o=s?3:1,l=s?this.COMMANDS.ANALOG_READ:this.COMMANDS.DIGITAL_READ;this.on(`${e}-read-${n}`,i),this.pins[n].report=1,this.pins[n].command=l,this.pins[n].type=e,this.pins[n].length=o;const h=()=>{for(let t=h.lastPinIndex+1;t{const i=this.pins[t];let r=!0;\"digital\"===i.type&&this.pins[t].value===e&&(r=!1),this.pins[t].value=e,r&&this.emit(`${i.type}-read-${t}`,e),setTimeout(u,1)};var u=()=>{const t=h(),e=this.pins[t],i=\"analog\"===e.type;this.io.i2cWrite(this.address,[e.command,t,0,0]),this.io.i2cReadOnce(this.address,e.length,e=>{let r;r=i?(e[1]<<8)+e[2]:e[0],c(t,r)})};r.isReading||(r.isReading=!0,u())}},digitalRead:{value(t,e){this.ioRead(t,\"digital\",e)}},analogRead:{value(t,e){this.ioRead(t,\"analog\",e)}},pingRead:{value({pin:t},e){const i=a.get(this).pinMap[t];this.io.i2cWrite(this.address,[this.COMMANDS.PING_READ,i,0,0]),setTimeout(()=>{this.once(`ping-read-${t}`,e),this.io.i2cReadOnce(this.address,3,e=>{const r=Math.round(29*((e[1]<<8)+e[2])*2);this.pins[i].value=r,this.emit(`ping-read-${t}`,r)})},200)}},analogWrite:{value(t,e){this.pwmWrite(t,e)}},pwmWrite:{writable:!0,value(t,e){const i=a.get(this).pinMap[t];e=o.constrain(e,0,255),this.io.i2cWrite(this.address,[this.COMMANDS.ANALOG_WRITE,i,e,0]),this.pins[i].value=e}}},\"74HC595\":{initialize:{value({pins:t}){const e=a.get(this);if(!t.data)throw new Error(\"Expected pins.data\");if(!t.clock)throw new Error(\"Expected pins.clock\");if(!t.latch)throw new Error(\"Expected pins.latch\");e.data=t.data,e.clock=t.clock,e.latch=t.latch,e.value=0,Object.assign(this.MODES,this.io.MODES),this.pins=[];for(let t=0;t<8;t++)this.pins.push({supportedModes:[this.MODES.OUTPUT],mode:1,value:0,report:0,analogChannel:127});this.portWrite(0,e.value),this.name=\"74HC595\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value:t=>t},pinMode:{value(t,e){this.pins[t].mode=e}},digitalWrite:{value(t,e){const i=a.get(this);e?i.value|=1<>t&1}}},CD74HC4067:{ADDRESSES:{value:[10,11,12,13]},REGISTER:{},initialize:{value(t){a.get(this).reading=!1,this.address=t.address||this.ADDRESSES[0],t.address=this.address,this.io.i2cConfig(t),Object.assign(this.MODES,this.io.MODES);for(let t=0;t<16;t++)this.pins.push({supportedModes:[this.MODES.ANALOG],mode:1,value:0,report:0,analogChannel:t}),this.analogPins.push(t);this.name=\"CD74HC4067\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value:t=>\"string\"==typeof t&&\"A\"===t[0]?+t.slice(1):t},pinMode:{value(t,e){this.pins[t].mode=e}},analogRead:{value(t,e){const i=a.get(this),r=t;this.pins[r].report=1,this.on(`analog-read-${t}`,e),this.io.i2cWrite(this.address,r,1),i.reading||(i.reading=!0,this.io.i2cRead(this.address,32,t=>{let e;for(let i=0;i<16;i++){const r=2*i;e=(t[r]<<8)+t[r+1],this.pins[i].value=e,this.pins[i].report&&this.emit(`analog-read-${i}`,e)}}))}}},LIS3DH:{ADDRESSES:{value:[24]},REGISTER:{value:{OUT_ADC1_L:8,OUT_X_L:40,CTRL_REG1:32,CTRL_REG2:33,CTRL_REG3:34,CTRL_REG4:35,CTRL_REG5:36,TEMP_CFG_REG:31}},initialize:{value(t){a.get(this).reading=!1,this.address=t.address||this.ADDRESSES[0],t.address=this.address,this.io.i2cConfig(t);let e=7;e=-241&e|112,this.io.i2cWrite(this.address,this.REGISTER.CTRL_REG1,e),this.io.i2cWrite(this.address,this.REGISTER.CTRL_REG4,136),this.io.i2cWrite(this.address,this.REGISTER.CTRL_REG3,16),Object.assign(this.MODES,this.io.MODES);for(let t=0;t<4;t++)0===t?this.pins.push({supportedModes:[],mode:0,value:0,report:0,analogChannel:127}):(this.pins.push({supportedModes:[this.MODES.ANALOG],mode:1,value:0,report:0,analogChannel:t}),this.analogPins.push(t));this.name=\"LIS3DH\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value:t=>\"string\"==typeof t&&\"A\"===t[0]?+t.slice(1):t},pinMode:{value(t,e){this.pins[t].mode=e}},analogRead:{value(t,e){const i=a.get(this),r=t;this.pins[r].report=1,this.on(`analog-read-${t}`,e),i.reading||(i.reading=!0,this.io.i2cWrite(this.address,this.REGISTER.TEMP_CFG_REG,128),this.io.i2cRead(this.address,128|this.REGISTER.OUT_ADC1_L,6,t=>{this.pins[1].value=o.scale(o.int16(t[1],t[0]),-32512,32512,1023,0),this.pins[2].value=o.scale(o.int16(t[3],t[2]),-32512,32512,1023,0),this.pins[3].value=o.scale(o.int16(t[5],t[4]),-32512,32512,1023,0);for(let t=1;t<4;t++)this.pins[t].report&&this.emit(`analog-read-${t}`,this.pins[t].value)}))}},i2cConfig:{value(...t){return this.io.i2cConfig.apply(this.io,t)}},i2cWrite:{value(...t){return this.io.i2cWrite.apply(this.io,t)}},i2cWriteReg:{value(...t){return this.io.i2cWriteReg.apply(this.io,t)}},i2cRead:{value(...t){return this.io.i2cRead.apply(this.io,t)}},i2cReadOnce:{value(...t){return this.io.i2cReadOnce.apply(this.io,t)}}},ADS1115:{ADDRESSES:{value:[72,73,74,75]},REGISTER:{value:{CONFIG:1,READ:0,PIN:[193,209,225,241],PIN_DATA:131}},initialize:{value(t){a.get(this).reading=!1,this.address=t.address||this.ADDRESSES[0],t.address=this.address,this.io.i2cConfig(t),Object.assign(this.MODES,this.io.MODES);for(let t=0;t<4;t++)this.pins.push({supportedModes:[this.MODES.ANALOG],mode:1,value:0,report:0,analogChannel:t}),this.analogPins.push(t);this.name=\"ADS1115\",this.isReady=!0,this.emit(\"connect\"),this.emit(\"ready\")}},normalize:{value:t=>\"string\"==typeof t&&\"A\"===t[0]?+t.slice(1):t},pinMode:{value(t,e){this.pins[t].mode=e}},analogRead:{value(t,e){const i=a.get(this);this.pins[t].report=1;let r=!1;if(this.on(`analog-read-${t}`,e),!i.reading){i.reading=!0;const e=()=>{setTimeout(()=>{r=!0},8)};this.io.i2cWrite(this.address,this.REGISTER.CONFIG,[this.REGISTER.PIN[t],this.REGISTER.PIN_DATA]),e(),this.io.i2cRead(this.address,this.REGISTER.READ,2,i=>{if(r){r=!1;const n=t===this.pins.length-1?0:t+1;this.io.i2cWrite(this.address,this.REGISTER.CONFIG,[this.REGISTER.PIN[n],this.REGISTER.PIN_DATA]);const s=(i[0]<<8)+i[1];this.pins[t].value=s,this.pins[t].report&&this.emit(`analog-read-${t}`,s),t=n,e()}})}}}}};c.CD74HCT4067=c.CD74HC4067,c[\"74HC4067\"]=c.CD74HC4067,c.PCF8574A=Object.assign({},c.PCF8574,{ADDRESSES:{value:[56]}});const u=Object.keys(r.prototype);Object.keys(c).forEach(t=>{u.forEach(e=>{void 0===c[t][e]&&(c[t][e]={writable:!0,configurable:!0,value(){throw new Error(`Expander:${t} does not support ${e}`)}})})});const d=[\"74HC595\"];class p extends h{constructor(t){super();let e,i=\"Expander cannot reuse an active address\",n=null;if(\"string\"==typeof t&&(e=t),r.Component.call(this,t=r.Options(t),{normalizePin:!1,requestPin:!1}),d.includes(t.controller)&&void 0===this.address&&(this.address=o.uid()),n=l.get(this.address),n)throw this.bus&&void 0!==n.bus&&n.bus===this.bus&&(i+=\" on this bus\"),new Error(i);void 0===t.controller&&e&&(t.controller=e),r.Controller.call(this,c,t),a.set(this,{}),\"function\"==typeof this.initialize&&this.initialize(t),l.set(this.address,this)}}p.get=t=>{if(!t.address||!t.controller)throw new Error(\"Expander.get(...) requires an address and controller\");if(void 0!==t.address&&(t.address=Number(t.address)),Number.isNaN(t.address))throw new Error(\"Expander.get(...) expects address to be a number\");if(\"string\"!=typeof t.controller)throw new Error(\"Expander.get(...) expects controller name to be a string\");const e=l.get(t.address);return e&&e.name===t.controller.toUpperCase()?e:new p(t)},p.byAddress=t=>l.get(t),p.byController=t=>{let e=null;return l.forEach(i=>{i.name===t.toUpperCase()&&(e=i)}),e},p.hasController=t=>void 0!==c[t],i.env.IS_TEST_MODE&&(p.Controllers=c,p.purge=()=>{a.clear(),l.clear()}),e.exports=p}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./fn\":93,\"./mixins/emitter\":113,\"./sleep\":128,_process:158}],93:[function(t,e,i){const r={debounce:t(\"lodash.debounce\"),cloneDeep:t(\"lodash.clonedeep\")},{ceil:n,max:s,min:o,PI:a}=Math;r.toFixed=(t,e)=>+(t||0).toFixed(e),r.map=(t,e,i,r,n)=>(t-e)*(n-r)/(i-e)+r|0,r.scale=r.map;const l=new Float32Array(1);r.fmap=(t,e,i,r,n)=>(l[0]=(t-e)*(n-r)/(i-e)+r,l[0]),r.fscale=r.fmap,r.constrain=(t,e,i)=>o(i,s(e,t)),r.inRange=(t,e,i)=>t>=e&&t<=i,r.range=function(t,e,i){1===arguments.length&&(e=t-1,t=0);const r=s(n(((e=e||0)-(t=t||0))/(i=i||1)),0);let o=0;const a=[];for(;o<=r;)a[o++]=t,t+=i;return a},r.uid=()=>\"xxxxxxxx-xxxx-4xxx-yxxx-xxxxxxxxxxxx\".replace(/[xy]/g,t=>{const e=16*Math.random()|0;return(\"x\"===t?e:3&e|8).toString(16)}).toUpperCase(),r.square=t=>t*t,r.sum=function(t){let e;return e=Array.isArray(t)?t:[].slice.call(arguments),e.reduce((t,e)=>t+e,0)},r.fma=(t,e,i)=>{let r,n=134217729*t;n+=t-n,r=t-n;let s,o=134217729*e;o+=e-o,s=e-o;const a=t*e,l=a+i;return l+(a-(l-i)+(i-(l-a))+(n*o-a+n*s+r*o+r*s))},r._BV=r.bitValue=r.bv=t=>1<{const i=t<<8|e;return i>>15?-1*(1+(65535^i)):i},r.uint16=(t,e)=>t<<8|e,r.int24=(t,e,i)=>{const r=t<<16|e<<8|i;return r>>23?-1*(1+(16777215^r)):r},r.uint24=(t,e,i)=>t<<16|e<<8|i,r.int32=(t,e,i,r)=>{const n=t<<24|e<<16|i<<8|r;return n>>31?-1*(1+(4294967295^n)):n},r.uint32=(t,e,i,r)=>(t<<24|e<<16|i<<8|r)>>>0,r.bitSize=t=>Math.round(Math.log2(t));const h=\"POW_2_\",c=r.bitSize(Number.MAX_SAFE_INTEGER)+1;for(let t=0;t{const e=r[h+t],i=e/2>>>0,n=i-1;r[\"u\"+t]=t=>(t<0&&(t+=e),r.constrain(t,0,e-1)),r[\"s\"+t]=t=>(t>n&&(t-=e),r.constrain(t,-i,n))}),r.RAD_TO_DEG=180/a,r.DEG_TO_RAD=a/180,r.TAU=2*a,e.exports=r},{\"lodash.clonedeep\":144,\"lodash.debounce\":145}],94:[function(t,e,i){(function(i,r){(function(){const n=t(\"./board\"),s=t(\"./mixins/emitter\"),o=t(\"./pin\"),{toFixed:a}=t(\"./fn\"),l=new Map,h={ADAFRUIT_ULTIMATE_GPS:{receiver:{value:\"FGPMMOPA6H\"}}},c={FGPMMOPA6H:{chip:{value:\"MT3339\"}}},u={DEFAULT:{baud:{value:9600,writable:!0},configure:{value(t){i.nextTick(t)}}},MT3339:{baud:{value:9600,writable:!0},configure:{value(t){i.nextTick(t)}},frequency:{get(){return l.get(this).frequency},set(t){const e=l.get(this);t<10&&(t=10),e.frequency=t,this.sendCommand(`$PMTK220,${String(1e3/e.frequency)}`)}},restart:{value(t){!0===t?this.sendCommand(\"$PMTK103\"):(this.sendCommand(\"$PMTK101\"),setTimeout(()=>{this.sendCommand(\"\")},1e3))}}}};class d extends s{constructor(t){super(),Array.isArray(t)&&(t={pins:{rx:t[0],tx:t[1],onOff:t[2]}}),void 0===t.pins&&(t.pins={}),n.Component.call(this,t=n.Options(t));let e=t.breakout||{},i=t.receiver,r=t.chip;h[e]&&(!i&&h[e].receiver&&(i=h[e].receiver.value),!r&&h[e].chip&&(r=h[e].chip.value)),r||(r=i&&c[i].chip?c[i].chip.value:\"DEFAULT\"),e=\"string\"==typeof e?u[e]:t.breakout,r=\"string\"==typeof r?u[r]:t.chip,i=\"string\"==typeof i?c[i]:t.receiver,r&&Object.defineProperties(this,r),i&&Object.defineProperties(this,i),e&&Object.defineProperties(this,e),this.fixed=t.fixed||6,this.baud=t.baud||this.baud;let s={sat:{},latitude:0,longitude:0,altitude:0,speed:0,course:0,frequency:1,lowPowerMode:!1};l.set(this,s),Object.defineProperties(this,{latitude:{get:()=>s.latitude},longitude:{get:()=>s.longitude},altitude:{get:()=>s.altitude},sat:{get:()=>s.sat},speed:{get:()=>s.speed},course:{get:()=>s.course},time:{get:()=>s.time}}),this.initialize&&this.initialize(t)}initialize(t){const e=l.get(this);e.portId=t.serialPort||t.portId||t.port||t.bus,void 0===e.portId&&this.io.SERIAL_PORT_IDs&&(e.portId=this.io.SERIAL_PORT_IDs.DEFAULT),[\"tx\",\"rx\"].forEach(t=>{this.pins[t]&&this.io.pinMode(this.pins[t],this.io.MODES.SERIAL)}),this.pins.onOff&&(this.io.pinMode(this.pins.onOff,this.io.MODES.OUTPUT),this.onOff=new o(this.pins.onOff)),this.io.serialConfig({portId:e.portId,baud:this.baud,rxPin:this.pins.rx,txPin:this.pins.tx}),this.configure&&this.configure(()=>{this.listen(),t.frequency&&(this.frequency=t.frequency)})}sendCommand(t){const e=l.get(this),i=[];for(let e=0;e{e+=new r(t).toString(\"ascii\");const i=e.split(\"\\r\\n\");if(i.length>1){for(let t=0;t{l.clear()}),e.exports=d}).call(this)}).call(this,t(\"_process\"),t(\"buffer\").Buffer)},{\"./board\":82,\"./fn\":93,\"./mixins/emitter\":113,\"./pin\":119,_process:158,buffer:25}],95:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),s=t(\"./fn\"),o=s.sum,a=s.toFixed,l=new Map,h=[\"x\",\"y\",\"z\"],c={ANALOG:{initialize:{value(t,e){const i=t.pins||[];let r,n;const s=l.get(this),o={};if(void 0===t.sensitivity)throw new Error(\"Expected a Sensitivity\");r=t.sensitivity,n=t.resolution||4.88,s.K=n/r,i.forEach(function(t,i){this.io.pinMode(t,this.io.MODES.ANALOG),this.io.analogRead(t,t=>{o[h[i]]=t,e(o)})},this)}},toNormal:{value:t=>t>>2},toDegreesPerSecond:{value(t,e){return(this.toNormal(t)-this.toNormal(e))*l.get(this).K|0}}},MPU6050:{initialize:{value(e,i){const r=t(\"./sip\"),n=l.get(this),s=r.Drivers.get(this.board,\"MPU6050\",e);n.sensitivity=e.sensitivity||131,s.on(\"data\",({gyro:t})=>{i(t)})}},toNormal:{value:t=>127+(t>>11)},toDegreesPerSecond:{value(t,e){const i=l.get(this);return a((t-e)/i.sensitivity,4)}}},BNO055:{initialize:{value(e,i){const r=t(\"./sip\"),n=l.get(this),s=r.Drivers.get(this.board,\"BNO055\",e);n.sensitivity=16,s.on(\"data\",({gyro:t})=>{i(t)})}},toNormal:{value:t=>t},toDegreesPerSecond:{value(t){const e=l.get(this);return a(t/e.sensitivity,4)}}}};c.DEFAULT=c.ANALOG;class u extends n{constructor(t){super();let e=!1;const i=100,n={x:{angle:0,value:0,previous:0,calibration:[],stash:[0,0,0,0,0],center:0,hasValue:!1},y:{angle:0,value:0,previous:0,calibration:[],stash:[0,0,0,0,0],center:0,hasValue:!1},z:{angle:0,value:0,previous:0,calibration:[],stash:[0,0,0,0,0],center:0,hasValue:!1}};r.Component.call(this,t=r.Options(t)),r.Controller.call(this,c,t),this.toNormal||(this.toNormal=t.toNormal||(t=>t)),this.toDegreesPerSecond||(this.toDegreesPerSecond=t.toDegreesPerSecond||(t=>t)),l.set(this,n),\"function\"==typeof this.initialize&&this.initialize(t,t=>{let r=!1;Object.keys(t).forEach(s=>{const a=t[s],l=n[s];l.previous=l.value,l.stash.shift(),l.stash.push(a),l.hasValue=!0,l.value=o(l.stash)/5|0,e||n.x.calibration.length!==i||n.y.calibration.length!==i||void 0!==this.z&&n.z.calibration.length!==i?l.calibration.lengthe,set(t){\"boolean\"==typeof t&&(e=t)}},pitch:{get(){return{rate:a(this.rate.y,2),angle:a(n.y.angle,2)}}},roll:{get(){return{rate:a(this.rate.x,2),angle:a(n.x.angle,2)}}},yaw:{get(){return{rate:void 0!==this.z?a(this.rate.z,2):0,angle:void 0!==this.z?a(n.z.angle,2):0}}},x:{get(){return a(this.toNormal(n.x.value),4)}},y:{get(){return a(this.toNormal(n.y.value),4)}},z:{get(){return n.z.hasValue?a(this.toNormal(n.z.value),4):void 0}},rate:{get(){return{x:this.toDegreesPerSecond(n.x.value,n.x.center),y:this.toDegreesPerSecond(n.y.value,n.y.center),z:n.z.hasValue?this.toDegreesPerSecond(n.z.value,n.z.center):0}}}})}recalibrate(){this.isCalibrated=!1}}Object.defineProperties(u,{TK_4X:{value:.67},TK_1X:{value:.167}}),i.env.IS_TEST_MODE&&(u.Controllers=c,u.purge=()=>{l.clear()}),e.exports=u}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./fn\":93,\"./mixins/emitter\":113,\"./sip\":127,_process:158}],96:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),s=t(\"./fn\"),o=new Map,{toFixed:a,POW_2_14:l,POW_2_16:h}=s,c=!0,u={SHT31D:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"SHT31D\",e).on(\"data\",({humidity:t})=>i(t))}},toRelativeHumidity:{writable:c,value:t=>a(t/(h-1)*100,2)}},HTU21D:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"HTU21D\",e).on(\"data\",({humidity:t})=>i(t))}},toRelativeHumidity:{writable:c,value:t=>a(t/h*125-6,2)}},HIH6130:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"HIH6130\",e).on(\"data\",({humidity:t})=>i(t))}},toRelativeHumidity:{writable:c,value:t=>a(t/(l-1)*100,2)}},DHT_I2C_NANO_BACKPACK:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"DHT_I2C_NANO_BACKPACK\",e).on(\"data\",({humidity:t})=>i(t))}},toRelativeHumidity:{writable:c,value:t=>a(t/100,1)}},TH02:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"TH02\",e).on(\"data\",({humidity:t})=>i(t))}},toRelativeHumidity:{writable:c,value:t=>(t>100&&(t=0),a(t||0,2))}},SI7020:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"SI7020\",e).on(\"data\",({humidity:t})=>i(t))}},toRelativeHumidity:{writable:c,value:t=>a(125*t/h-6,2)}},BME280:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"BME280\",e).on(\"data\",({humidity:t})=>i(t))}},toRelativeHumidity:{writable:c,value:t=>a(t/1024,3)}}};u.DHT11_I2C_NANO_BACKPACK=u.DHT_I2C_NANO_BACKPACK,u.DHT21_I2C_NANO_BACKPACK=u.DHT_I2C_NANO_BACKPACK,u.DHT22_I2C_NANO_BACKPACK=u.DHT_I2C_NANO_BACKPACK,u.SI7021=u.SI7020;class d extends n{constructor(t){super();const e=t.freq||25;let i=null,n=null;r.Component.call(this,t=r.Options(t)),r.Controller.call(this,u,t),o.set(this,{}),this.toRelativeHumidity||(this.toRelativeHumidity=t.toRelativeHumidity||(t=>t));const s={relativeHumidity:{get(){return this.toRelativeHumidity(n)}}};s.RH=s.relativeHumidity,Object.defineProperties(this,s),\"function\"==typeof this.initialize&&this.initialize(t,t=>{n=t}),setInterval(()=>{if(null==n)return;if(Number.isNaN(this.relativeHumidity))return;const t={};t.RH=t.relativeHumidity=this.relativeHumidity,this.emit(\"data\",t),this.relativeHumidity!==i&&(i=this.relativeHumidity,this.emit(\"change\",t))},e)}}i.env.IS_TEST_MODE&&(d.Controllers=u,d.purge=()=>{o.clear()}),e.exports=d}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./fn\":93,\"./mixins/emitter\":113,\"./sip\":127,_process:158}],97:[function(t,e,i){e.exports={Accelerometer:t(\"./accelerometer\"),Animation:t(\"./animation\"),Altimeter:t(\"./altimeter\"),Barometer:t(\"./barometer\"),Board:t(\"./board\"),Button:t(\"./button\"),Color:t(\"./color\"),Collection:t(\"./mixins/collection\"),Compass:t(\"./compass\"),ESC:t(\"./esc\"),Expander:t(\"./expander\"),Fn:t(\"./fn\"),GPS:t(\"./gps\"),Gyro:t(\"./gyro\"),Hygrometer:t(\"./hygrometer\"),SIP:t(\"./sip\"),Keypad:t(\"./keypad\"),LCD:t(\"./lcd\"),Led:t(\"./led\"),LedControl:t(\"./led/ledcontrol\"),Light:t(\"./light\"),Joystick:t(\"./joystick\"),Motion:t(\"./motion\"),Motor:t(\"./motor\"),Orientation:t(\"./orientation\"),Piezo:t(\"./piezo\"),Pin:t(\"./pin\"),Proximity:t(\"./proximity\"),ReflectanceArray:t(\"./reflectancearray\"),Relay:t(\"./relay\"),Repl:t(\"./repl\"),Sensor:t(\"./sensor\"),Servo:t(\"./servo\"),ShiftRegister:t(\"./shiftregister\"),Stepper:t(\"./stepper\"),Switch:t(\"./switch\"),Thermometer:t(\"./thermometer\")},e.exports.Board.Virtual=function(t){let i;return i=t instanceof e.exports.Expander?{io:t}:t,new e.exports.Board(Object.assign({},{repl:!1,debug:!1,sigint:!1},i))},e.exports.Sensor.Analog=e.exports.Sensor,e.exports.Sensor.Digital=function(t){let i,r=\"digital\";return\"number\"==typeof t||\"string\"==typeof t?(i=t,t={type:r,pin:i}):t.type=r,new e.exports.Sensor(t)},e.exports.IMU=e.exports.SIP,e.exports.Multi=e.exports.SIP,e.exports.Luxmeter=e.exports.Light,e.exports.Magnetometer=e.exports.Compass,e.exports.Ping=e.exports.Proximity,e.exports.Sonar=e.exports.Proximity,e.exports.Boards=e.exports.Board.Collection,e.exports.Buttons=e.exports.Button.Collection,e.exports.ESCs=e.exports.ESC.Collection,e.exports.Leds=e.exports.Led.Collection,e.exports.Led.RGBs=e.exports.Led.RGB.Collection,e.exports.Motors=e.exports.Motor.Collection,e.exports.Pins=e.exports.Pin.Collection,e.exports.Relays=e.exports.Relay.Collection,e.exports.Sensors=e.exports.Sensor.Collection,e.exports.Servos=e.exports.Servo.Collection,e.exports.Switches=e.exports.Switch.Collection,e.exports.Touchpad=e.exports.Keypad},{\"./accelerometer\":78,\"./altimeter\":79,\"./animation\":80,\"./barometer\":81,\"./board\":82,\"./button\":85,\"./color\":86,\"./compass\":87,\"./esc\":90,\"./expander\":92,\"./fn\":93,\"./gps\":94,\"./gyro\":95,\"./hygrometer\":96,\"./joystick\":98,\"./keypad\":99,\"./lcd\":101,\"./led\":103,\"./led/ledcontrol\":106,\"./light\":111,\"./mixins/collection\":112,\"./motion\":115,\"./motor\":116,\"./orientation\":117,\"./piezo\":118,\"./pin\":119,\"./proximity\":120,\"./reflectancearray\":121,\"./relay\":122,\"./repl\":123,\"./sensor\":124,\"./servo\":125,\"./shiftregister\":126,\"./sip\":127,\"./stepper\":129,\"./switch\":130,\"./thermometer\":131}],98:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),{constrain:s,fscale:o}=t(\"./fn\"),a=new Map,l=[\"x\",\"y\"];class h{constructor({pins:t,io:e}){this.pins=t,this.io=e,this.io.pinMode(this.pins[0],this.io.MODES.OUTPUT),this.io.pinMode(this.pins[1],this.io.MODES.OUTPUT),this.io.pinMode(this.pins[2],this.io.MODES.OUTPUT),this.io.pinMode(this.pins[3],this.io.MODES.OUTPUT)}select(t){this.io.digitalWrite(this.pins[0],1&t?this.io.HIGH:this.io.LOW),this.io.digitalWrite(this.pins[1],2&t?this.io.HIGH:this.io.LOW),this.io.digitalWrite(this.pins[2],4&t?this.io.HIGH:this.io.LOW),this.io.digitalWrite(this.pins[3],8&t?this.io.HIGH:this.io.LOW)}}const c={ANALOG:{initialize:{value({pins:t},e){const i={x:null,y:null};t.forEach((t,r)=>{this.io.pinMode(t,this.io.MODES.ANALOG),this.io.analogRead(t,t=>{i[l[r]]=t,null!==i.x&&null!==i.y&&(e({x:i.x,y:i.y}),i.x=null,i.y=null)})})}},toAxis:{value(t,e){const i=a.get(this);return s(o(t-i[e].zeroV,-511,511,-1,1),-1,1)}}},ESPLORA:{initialize:{value(t,e){const i=new h({pins:[18,19,20,21],io:this.io}),r=[11,12];let n=1;const s={x:null,y:null};this.io.pinMode(4,this.io.MODES.ANALOG);const o=t=>{s[l[n]]=t,null!==s.x&&null!==s.y&&(e({x:s.x,y:s.y}),s.x=null,s.y=null),this.io.removeListener(\"analog-read-4\",o),setTimeout(a,10)};var a=()=>{i.select(r[n^=1]),this.io.analogRead(4,o)};a()}},toAxis:{value(t,e){const i=a.get(this);return s(o(t-i[e].zeroV,-511,511,-1,1),-1,1)}}}};c.DEFAULT=c.ANALOG;class u extends n{constructor(t){super(),r.Component.call(this,t=r.Options(t)),r.Controller.call(this,c,t),this.toAxis||(this.toAxis=t.toAxis||(t=>t));const e={x:{invert:!1,value:0,previous:0,zeroV:0,calibrated:!1},y:{invert:!1,value:0,previous:0,zeroV:0,calibrated:!1}};e.x.zeroV=void 0===t.zeroV?0:t.zeroV.x||0,e.y.zeroV=void 0===t.zeroV?0:t.zeroV.y||0,e.x.invert=t.invertX||t.invert||!1,e.y.invert=t.invertY||t.invert||!1,a.set(this,e),\"function\"==typeof this.initialize&&this.initialize(t,t=>{let i=!1;const r={x:null,y:null};Object.keys(t).forEach(n=>{const s=t[n],o=e[n];o.value=s,e[n].calibrated||(e[n].calibrated=!0,e[n].zeroV=s,i=!0),r[n]=this[n];const a=Math.abs(r[n]),l=Math.abs(o.previous);(al)&&(i=!0),o.previous=r[n]}),this.emit(\"data\",{x:r.x,y:r.y}),i&&this.emit(\"change\",{x:r.x,y:r.y})}),Object.defineProperties(this,{x:{get(){return this.toAxis(e.x.value,\"x\")*(e.x.invert?-1:1)}},y:{get(){return this.toAxis(e.y.value,\"y\")*(e.y.invert?-1:1)}}})}}i.env.IS_TEST_MODE&&(u.Controllers=c,u.purge=()=>{a.clear()}),e.exports=u}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./fn\":93,\"./mixins/emitter\":113,_process:158}],99:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),s=t(\"./fn\"),{scale:o,toFixed:a,uint16:l}=s,h=new Map,c={down:[\"down\",\"press\",\"tap\",\"impact\",\"hit\",\"touch\"],up:[\"up\",\"release\"],hold:[\"hold\"]};function u(t){let e=[];var i;return t.keys&&Array.isArray(t.keys)&&(e=t.keys.slice(),e.every(Array.isArray)&&(e=(i=e).flat?i.flat():i.reduce((t,e)=>t.concat(e),[]))),e}const d={MPR121:{ADDRESSES:{value:[90,91,92,93]},REGISTER:{value:t(\"./definitions/mpr121.js\")},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\"),n=r.addressResolver(this,e),s=h.get(this),c=this.REGISTER.MAPS[e.controller].KEYS,d=this.REGISTER.MAPS[e.controller].TARGETS,f=Object.keys(c).reduce((t,e)=>(t[e]=c[e],t),[]);let g=u(e);const m=f.length;this.io.i2cConfig(e),this.io.i2cWrite(n,this.REGISTER.MPR121_SOFTRESET,99),this.io.i2cWrite(n,this.REGISTER.MHD_RISING,1),this.io.i2cWrite(n,this.REGISTER.NHD_AMOUNT_RISING,1),this.io.i2cWrite(n,this.REGISTER.NCL_RISING,0),this.io.i2cWrite(n,this.REGISTER.FDL_RISING,0),this.io.i2cWrite(n,this.REGISTER.MHD_FALLING,1),this.io.i2cWrite(n,this.REGISTER.NHD_AMOUNT_FALLING,1),this.io.i2cWrite(n,this.REGISTER.NCL_FALLING,255),this.io.i2cWrite(n,this.REGISTER.FDL_FALLING,2),this.sensitivity={press:Array(12).fill(.95),release:Array(12).fill(.975)},e.keys&&\"MPR121_SHIELD\"===e.controller&&(g=g.reverse()),e.sensitivity&&(Array.isArray(e.sensitivity)?e.sensitivity.forEach(function({press:t,release:e},i){void 0!==t&&(this.sensitivity.press[i]=t),void 0!==e&&(this.sensitivity.release[i]=e)},this):(void 0!==e.sensitivity.press&&this.sensitivity.press.fill(e.sensitivity.press),void 0!==e.sensitivity.release&&this.sensitivity.release.fill(e.sensitivity.release)));for(let t=0;t<12;t++)this.io.i2cWrite(n,this.REGISTER.ELE0_TOUCH_THRESHOLD+(t<<1),o(a(1-this.sensitivity.press[t],3),0,1,0,255)),this.io.i2cWrite(n,this.REGISTER.ELE0_RELEASE_THRESHOLD+(t<<1),o(a(1-this.sensitivity.release[t],3),0,1,0,255));this.io.i2cWrite(n,this.REGISTER.FILTER_CONFIG,19),this.io.i2cWrite(n,this.REGISTER.AFE_CONFIGURATION,128),this.io.i2cWrite(n,this.REGISTER.AUTO_CONFIG_CONTROL_0,143),this.io.i2cWrite(n,this.REGISTER.AUTO_CONFIG_USL,228),this.io.i2cWrite(n,this.REGISTER.AUTO_CONFIG_LSL,148),this.io.i2cWrite(n,this.REGISTER.AUTO_CONFIG_TARGET_LEVEL,205),this.io.i2cWrite(n,this.REGISTER.ELECTRODE_CONFIG,204),g.length||(g=Array.from(Object.assign({},c,{length:m}))),s.length=m,s.touches=p(m),s.keys=g,s.mapping=f,s.targets=d,s.isMultitouch=!0,this.io.i2cRead(n,0,2,t=>i(l(t[1],t[0])))}},toAlias:{value(t){return h.get(this).keys[t]}},toIndices:{value(t){const e=h.get(this),i=[];for(let r=0;r<12;r++)t&1<e(t))}},toAlias:{value(t){return h.get(this).keys[t]}},toIndices:{value(t){const e=h.get(this),i=e.length,r=e.scale[0],n=e.scale[1],s=e.scale[2];return ts?[]:[i-(t-r)/n|0]}}},ANALOG:{initialize:{value(t,e){let i=u(t),r=[],n=0;if(t.length&&!i.length&&(i=Array.from({length:t.length},(t,e)=>e)),!i.length)throw new Error(\"Missing `keys`. Analog Keypad requires either a numeric `length` or a `keys` array.\");r=i,n=r.length;const s=h.get(this),o=n+1,a=Math.round(1023/o),l=Array.from({length:o},(t,e)=>{const i=a*e;return Array.from({length:a-1},(t,e)=>i+e)});s.length=n,s.ranges=l,s.touches=p(n),s.mapping=r,s.keys=i,s.isMultitouch=!0,this.io.pinMode(this.pin,this.io.MODES.ANALOG),this.io.analogRead(this.pin,t=>e(t))}},toAlias:{value(t){return h.get(this).keys[t]}},toIndices:{value(t){const e=h.get(this);let i=e.ranges.findIndex(e=>e.includes(t));return i===e.length&&i--,i<0?[]:[i]}}},AT42QT1070:{ADDRESSES:{value:[27]},REGISTER:{value:{READ:3}},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\"),n=r.addressResolver(this,e),s=h.get(this),o=[0,1,2,3,4,5,6];let a=u(e),l=0;a.length||(a=o),l=o.length,s.length=l,s.touches=p(l),s.mapping=o,s.keys=a,s.isMultitouch=!0,this.io.i2cConfig(e),this.io.i2cRead(n,this.REGISTER.READ,1,t=>i(t[0]))}},toAlias:{value(t){return h.get(this).keys[t]}},toIndices:{value(t){const e=[];for(let i=0;i<7;i++)t&1<i(l(t[0],t[1])))}},toAlias:{value(t){return h.get(this).keys[t]}},toIndices:{value(t){const e=h.get(this),i=[];for(let r=0;ri(l(t[0],t[1])))}},toAlias:{value(t){return h.get(this).keys[t]}},toIndices:{value(t){const e=h.get(this),i=[];for(let r=0;ri(l(t[0],t[1])))}},toAlias:{value(t){return h.get(this).keys[t]}},toIndices:{value(t){const e=h.get(this),i=[];for(let r=0;r({timeout:null,value:0}))}d.MPR121QR2=d.MPR121,d.MPR121QR2_SHIELD=d.MPR121,d.MPR121_KEYPAD=d.MPR121,d.MPR121_SHIELD=d.MPR121,d.QTOUCH=d.AT42QT1070,d.DEFAULT=d.ANALOG;class f extends n{constructor(t){super(),r.Component.call(this,t=r.Options(t));let e=null;const i={touches:null,timeout:null,length:null,keys:null,mapping:null,holdtime:null},n=s.debounce(function(t,e){const i={type:t,which:e,timestamp:Date.now()};c[t].forEach(function(t){this.emit(t,i)},this),this.emit(\"change\",Object.assign({},i))},5);r.Controller.call(this,d,t),i.holdtime=t.holdtime?t.holdtime:500,h.set(this,i),\"function\"==typeof this.initialize&&this.initialize(t,t=>{e=t;const r=Date.now(),s=this.toIndices(t),o=i.length,a={down:[],hold:[],up:[]};let l=null,h=null;for(let t=0;ti.touches[t].timeout&&(i.touches[t].timeout=r+i.holdtime,a.hold.push(h)),i.touches[t].value=1):(1===i.touches[t].value&&(i.touches[t].timeout=null,a.up.push(h)),i.touches[t].value=0),l=null,h=null;Object.keys(a).forEach(function(t){const e=a[t];e.length&&n.call(this,t,e)},this)}),Object.defineProperties(this,{isMultitouch:{get:()=>i.isMultitouch},value:{get:()=>e}})}}i.env.IS_TEST_MODE&&(f.Controllers=d,f.purge=()=>{h.clear()}),e.exports=f}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./definitions/mpr121.js\":88,\"./fn\":93,\"./mixins/emitter\":113,\"./sip\":127,_process:158}],100:[function(t,e,i){e.exports={DEFAULT:{0:[14,27,27,27,27,27,14,0],1:[2,6,14,6,6,6,6,0],2:[14,27,3,6,12,24,31,0],3:[14,27,3,14,3,27,14,0],4:[3,7,15,27,31,3,3,0],5:[31,24,30,3,3,27,14,0],6:[14,27,24,30,27,27,14,0],7:[31,3,6,12,12,12,12,0],8:[14,27,27,14,27,27,14,0],9:[14,27,27,15,3,27,14,0],10:[23,21,21,21,23,0,31,0],11:[10,10,10,10,10,0,31,0],12:[23,17,23,20,23,0,31,0],13:[23,17,19,17,23,0,31,0],14:[21,21,23,17,17,0,31,0],15:[23,20,23,17,23,0,31,0],16:[23,20,23,21,23,0,31,0],17:[23,17,18,18,18,0,31,0],18:[23,21,23,21,23,0,31,0],19:[23,21,23,17,23,0,31,0],circle:[0,14,17,17,17,14,0,0],cdot:[0,14,17,21,17,14,0,0],donut:[0,14,31,27,31,14,0,0],ball:[0,14,31,31,31,14,0,0],square:[0,31,17,17,17,31,0,0],sdot:[0,31,17,21,17,31,0,0],fbox:[0,31,31,31,31,31,0,0],sbox:[0,0,14,10,14,0,0,0],sfbox:[0,0,14,14,14,0,0,0],bigpointerright:[8,12,10,9,10,12,8,0],bigpointerleft:[2,6,10,18,10,6,2,0],arrowright:[8,12,10,9,10,12,8,0],arrowleft:[2,6,10,18,10,6,2,0],ascprogress1:[16,16,16,16,16,16,16,16],ascprogress2:[24,24,24,24,24,24,24,24],ascprogress3:[28,28,28,28,28,28,28,28],ascprogress4:[30,30,30,30,30,30,30,30],fullprogress:[31,31,31,31,31,31,31,31],descprogress1:[1,1,1,1,1,1,1,1],descprogress2:[3,3,3,3,3,3,3,3],descprogress3:[7,7,7,7,7,7,7,7],descprogress4:[15,15,15,15,15,15,15,15],ascchart1:[31,0,0,0,0,0,0,0],ascchart2:[31,31,0,0,0,0,0,0],ascchart3:[31,31,31,0,0,0,0,0],ascchart4:[31,31,31,31,0,0,0,0],ascchart5:[31,31,31,31,31,0,0,0],ascchart6:[31,31,31,31,31,31,0,0],ascchart7:[31,31,31,31,31,31,31,0],descchart1:[0,0,0,0,0,0,0,31],descchart2:[0,0,0,0,0,0,31,31],descchart3:[0,0,0,0,0,31,31,31],descchart4:[0,0,0,0,31,31,31,31],descchart5:[0,0,0,31,31,31,31,31],descchart6:[0,0,31,31,31,31,31,31],descchart7:[0,31,31,31,31,31,31,31],borderleft1:[1,1,1,1,1,1,1,1],borderleft2:[3,2,2,2,2,2,2,3],borderleft3:[7,4,4,4,4,4,4,7],borderleft4:[15,8,8,8,8,8,8,15],borderleft5:[31,16,16,16,16,16,16,31],bordertopbottom5:[31,0,0,0,0,0,0,31],borderright1:[16,16,16,16,16,16,16,16],borderright2:[24,8,8,8,8,8,8,24],borderright3:[28,4,4,4,4,4,4,28],borderright4:[30,2,2,2,2,2,2,30],borderright5:[31,1,1,1,1,1,1,31],box1:[3,3,3,0,0,0,0,0],box2:[24,24,24,0,0,0,0,0],box3:[27,27,27,0,0,0,0,0],box4:[0,0,0,0,3,3,3,0],box5:[3,3,3,0,3,3,3,0],box6:[24,24,24,0,3,3,3,0],box7:[27,27,27,0,3,3,3,0],box8:[0,0,0,0,24,24,24,0],box9:[3,3,3,0,24,24,24,0],box10:[24,24,24,0,24,24,24,0],box11:[27,27,27,0,24,24,24,0],box12:[0,0,0,0,27,27,27,0],box13:[3,3,3,0,27,27,27,0],box14:[24,24,24,0,27,27,27,0],box15:[27,27,27,0,27,27,27,0],euro:[3,4,30,8,30,8,7,0],cent:[0,0,14,17,16,21,14,8],speaker:[1,3,15,15,15,3,1,0],sound:[8,16,0,24,0,16,8,0],x:[0,27,14,4,14,27,0,0],target:[0,10,17,21,17,10,0,0],pointerright:[0,8,12,14,12,8,0,0],pointerup:[0,0,4,14,31,0,0,0],pointerleft:[0,2,6,14,6,2,0,0],pointerdown:[0,0,31,14,4,0,0,0],arrowne:[0,15,3,5,9,16,0,0],arrownw:[0,30,24,20,18,1,0,0],arrowsw:[0,1,18,20,24,30,0,0],arrowse:[0,16,9,5,3,15,0,0],dice1:[0,0,0,4,0,0,0,0],dice2:[0,16,0,0,0,1,0,0],dice3:[0,16,0,4,0,1,0,0],dice4:[0,17,0,0,0,17,0,0],dice5:[0,17,0,4,0,17,0,0],dice6:[0,17,0,17,0,17,0,0],bell:[4,14,14,14,31,0,4,0],smile:[0,10,0,17,14,0,0,0],note:[2,3,2,14,30,12,0,0],clock:[0,14,21,23,17,14,0,0],heart:[0,10,31,31,31,14,4,0],duck:[0,12,29,15,15,6,0,0],check:[0,1,3,22,28,8,0,0],retarrow:[1,1,5,9,31,8,4,0],runninga:[6,6,5,14,20,4,10,17],runningb:[6,6,4,14,14,4,10,10]}}},{}],101:[function(t,e,i){(function(i){(function(){var r=t(\"./board\"),n=t(\"./pin\"),s=t(\"./lcd-chars\"),o=t(\"./led/rgb\");const a=new Map;function l(t){const e=i.hrtime();let r,n=0;for(;t>n;)r=i.hrtime(e),n=(1e9*r[0]+r[1])/1e3}function h(t){l(1e3*t)}class c{constructor(t,e){this.address=t,this.mask=255,this.memory=0,this.io=e}pinMode(t,e){1===e?this.mask&=~(1<0||1===e.backlight.polarity&&0===t?255:0,e.backlight.statusMask=e.backlight.pinMask&i,this.expander.portWrite(e.backlight.statusMask)),this}},createChar:{value(t,e){const i=a.get(this);let r;\"number\"==typeof t?r=7&t:(r=i.index,i.index--,-1===i.index&&(i.index=this.REGISTER.MEMORYLIMIT-1)),this.command(this.REGISTER.SETCGRAMADDR|r<<3),h(1);for(let t=0;t<8;t++)this.command(this.REGISTER.DATA,e[t]),h(1);return i.characters[t]=r,r}},noBacklight:{value(){this.backlight(0)}},on:{value(){const t=a.get(this);return t.display|=this.REGISTER.DISPLAYON,this.command(this.REGISTER.DISPLAY|t.display),this}},off:{value(){const t=a.get(this);return t.display&=~this.REGISTER.DISPLAYON,this.command(this.REGISTER.DISPLAY|t.display),this}},hilo:{value(t){t.call(this)}},command:{value(t,e){return 1===arguments.length&&(e=t,t=this.REGISTER.COMMAND),this.send(t,e),this}},send:{writable:!0,value(t,e){return this.writeBits(t,e>>4),this.writeBits(t,15&e),this}},writeBits:{writable:!0,value(t,e){const i=a.get(this);let r=0;for(let t=0;t<4;t++)1&~e||(r|=i.data[t]),e>>=1;return t===this.REGISTER.DATA&&(t=this.REGISTER.RS),r|=t|i.backlight.statusMask,this.pulse(r),this}},pulse:{writable:!0,value(t){this.expander.portWrite(t|this.REGISTER.EN),this.expander.portWrite(t&~this.REGISTER.EN)}}},PARALLEL:{REGISTER:{value:u.DEFAULT},CHARS:{value:s.DEFAULT},initialize:{value(t){this.bitMode=t.bitMode||4,this.lines=t.lines||2,this.rows=t.rows||2,this.cols=t.cols||16,this.dots=t.dots||\"5x8\",Array.isArray(t.pins)?this.pins={rs:t.pins[0],en:t.pins[1],data:[t.pins[5],t.pins[4],t.pins[3],t.pins[2]]}:this.pins=t.pins;const e=this.REGISTER.DISPLAY|this.REGISTER.DISPLAYON,i={display:e,characters:{},index:this.REGISTER.MEMORYLIMIT-1,backlight:{polarity:1,pin:null,value:null}};if(a.set(this,i),t.pins.forEach(function(t){this.io.pinMode(t,1)},this),this.io.digitalWrite(this.pins.rs,this.io.LOW),this.io.digitalWrite(this.pins.en,this.io.LOW),t.backlight){if(\"number\"==typeof t.backlight){const e=t.backlight;t.backlight={pin:e}}t.backlight.pin&&(i.backlight.pin=new n({pin:t.backlight.pin,board:this.board}),i.backlight.pin.high())}this.command(3),h(4),this.command(3),h(4),this.command(3),4===this.bitMode&&this.command(2),this.command(this.REGISTER.LINE[this.lines]|this.REGISTER.DOTS[this.dots]),this.command(e),this.clear(),this.home()}}}};d.LCM1602=d.LCD1602=d.LCM1602IIC=d.LCD2004=d.PCF8574A=d.PCF8574AT=d.PCF8574T=d.PCF8574,d.MJKDZ=Object.assign({},d.PCF8574,{REGISTER:{value:Object.assign({},u.DEFAULT,{SHIFT_LEFT:0,COMMAND:0,DATA:6,EN:16,RW:5,RS:6,D4:0,D5:1,D6:2,D7:3})},writeBits:{writable:!0,value(t,e){const i=a.get(this);let r=0;for(let t=0;t<4;t++)1&~e||(r|=i.data[t]),e>>=1;return t===this.REGISTER.DATA&&(t=1<>4),this.send(e),this}send(t){let e=0,i={4:8,8:128}[this.bitMode];for(;i>0;i>>=1)this.io.digitalWrite(this.pins.data[e],this.io[t&i?\"HIGH\":\"LOW\"]),e++;return this.io.digitalWrite(this.pins.en,this.io.LOW),this.io.digitalWrite(this.pins.en,this.io.HIGH),l(1),this.io.digitalWrite(this.pins.en,this.io.LOW),l(37),this}hilo(t){this.io.digitalWrite(this.pins.rs,this.io.HIGH),t.call(this),this.io.digitalWrite(this.pins.rs,this.io.LOW)}print(t,e){let i,r,n,s;return t=`${t}`,e=e||{},i=a.get(this),r=e.dontProcessSpecials||!1,n=!r&&f.test(t),1===t.length?this.hilo(function(){this.command(this.REGISTER.DATA,t.charCodeAt(0))}):n?(s=t.replace(f,(t,e)=>{const r=i.characters[e];return\"number\"==typeof r?String.fromCharCode(r):t}),this.print(s,{dontProcessSpecials:!0})):this.hilo(function(){Array.from(t).forEach(function(t){this.command(this.REGISTER.DATA,t.charCodeAt(0))},this)}),this}write(t){return this.hilo.call(this,function(){this.command(this.REGISTER.DATA,t)}),this}clear(){return this.command(this.REGISTER.CLEAR),h(2),this}home(){return this.command(this.REGISTER.HOME),h(2),this}setCursor(t,e){return this.command(this.REGISTER.SETDDRAMADDR|t+[0,64,20,84][e]),this}backlight(t){const e=a.get(this);return t=void 0===t,e.backlight.pin instanceof n&&(t?e.backlight.pin.high():e.backlight.pin.low()),t?e.display|=this.REGISTER.DISPLAYON:e.display&=~this.REGISTER.DISPLAYON,this.command(e.display),this}noBacklight(){const t=a.get(this);return t.backlight.pin instanceof n&&t.backlight.pin.high(),this.backlight(!1)}on(){const t=a.get(this);return t.display|=this.REGISTER.DISPLAYON,this.command(t.display),this}off(){const t=a.get(this);return t.display&=~this.REGISTER.DISPLAYON,this.command(t.display),this}cursor(t,e){if(void 0!==e&&void 0!==t)return this.setCursor(e,t);const i=a.get(this);return i.display|=this.REGISTER.CURSORON,this.command(i.display),this}noCursor(){const t=a.get(this);return t.display&=~this.REGISTER.CURSORON,this.command(t.display),this}blink(){const t=a.get(this);return t.display|=this.REGISTER.BLINKON,this.command(t.display),this}noBlink(){const t=a.get(this);return t.display&=~this.REGISTER.BLINKON,this.command(t.display),this}autoscroll(){const t=a.get(this);return t.display|=this.REGISTER.ENTRYSHIFTINCREMENT,this.command(this.REGISTER.ENTRY|t.display),this}noAutoscroll(){const t=a.get(this);return t.display&=~this.REGISTER.ENTRYSHIFTINCREMENT,this.command(this.REGISTER.ENTRY|t.display),this}createChar(t,e){const i=a.get(this);let r;return\"number\"==typeof t?r=7&t:(r=i.index,i.index--,-1===i.index&&(i.index=this.REGISTER.MEMORYLIMIT-1)),this.command(this.REGISTER.SETCGRAMADDR|r<<3),this.hilo(function(){for(let t=0;t<8;t++)this.command(this.REGISTER.DATA,e[t])}),i.characters[t]=r,r}useChar(t){const e=a.get(this);if(void 0===e.characters[t]){const i=this.createChar(t,this.CHARS[t]);for(const r in e.characters)if(t!==r&&e.characters[r]===i){delete e.characters[r];break}e.characters[t]=i}return this}}const f=/:(\\w+):/g;p.POSITIVE=0,p.NEGATIVE=1,p.Characters=s,e.exports=p}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./lcd-chars\":100,\"./led/rgb\":109,\"./pin\":119,_process:158}],102:[function(t,e,i){const r=t(\"./ledcontrol\");e.exports=class extends r{constructor(t){t.isMatrix=!1,super(t)}static get CHARS(){return r.DIGIT_CHARS}}},{\"./ledcontrol\":106}],103:[function(t,e,i){const r=t(\"./led\");r.Collection=t(\"./leds\"),r.RGB=t(\"./rgb\"),r.RGB.Collection=t(\"./rgbs\"),r.Matrix=t(\"./matrix\"),r.Digits=t(\"./digits\"),e.exports=r},{\"./digits\":102,\"./led\":105,\"./leds\":107,\"./matrix\":108,\"./rgb\":109,\"./rgbs\":110}],104:[function(t,e,i){e.exports={MATRIX_CHARS:{\" \":[0,0,0,0,0,0,0,0],\"!\":[4,4,4,4,0,0,4,0],'\"':[10,10,10,0,0,0,0,0],\"#\":[10,10,31,10,31,10,10,0],$:[4,15,20,14,5,30,4,0],\"%\":[24,25,2,4,8,19,3,0],\"&\":[12,18,20,8,21,18,13,0],\"'\":[12,4,8,0,0,0,0,0],\"(\":[2,4,8,8,8,4,2,0],\")\":[8,4,2,2,2,4,8,0],\"*\":[0,4,21,14,21,4,0,0],\"+\":[0,4,4,31,4,4,0,0],\",\":[0,0,0,0,12,4,8,0],\"-\":[0,0,0,31,0,0,0,0],\".\":[0,0,0,0,0,12,12,0],\"/\":[0,1,2,4,8,16,0,0],\"[\":[14,8,8,8,8,8,14,0],\"\\\\\":[0,16,8,4,2,1,0,0],\"]\":[14,2,2,2,2,2,14,0],\"^\":[4,10,17,0,0,0,0,0],_:[0,0,0,0,0,0,31,0],\"`\":[16,8,4,0,0,0,0,0],\":\":[0,12,12,0,12,12,0,0],\";\":[0,12,12,0,12,4,8,0],\"<\":[2,4,8,16,8,4,2,0],\"=\":[0,0,31,0,31,0,0,0],\">\":[8,4,2,1,2,4,8,0],\"?\":[14,17,1,2,4,0,4,0],\"@\":[14,17,1,13,21,21,14,0],\"{\":[2,4,4,8,4,4,2,0],\"|\":[4,4,4,0,4,4,4,0],\"}\":[8,4,4,2,4,4,8,0],\"~\":[8,21,2,0,0,0,0,0],0:[14,17,19,21,25,17,14,0],1:[4,12,4,4,4,4,14,0],2:[14,17,1,2,4,8,31,0],3:[31,2,4,2,1,17,14,0],4:[2,6,10,18,31,2,2,0],5:[31,16,30,1,1,17,14,0],6:[6,8,16,30,17,17,14,0],7:[31,1,2,4,4,4,4,0],8:[30,17,17,14,17,17,14,0],9:[14,17,17,15,1,2,12,0],A:[8,20,34,62,34,34,34,34],B:[60,34,34,62,34,34,60,0],C:[60,64,64,64,64,64,60,0],D:[124,66,66,66,66,66,124,0],E:[124,64,64,124,64,64,64,124],F:[124,64,64,124,64,64,64,64],G:[60,64,64,64,64,68,68,60],H:[68,68,68,124,68,68,68,68],I:[124,16,16,16,16,16,16,124],J:[60,8,8,8,8,8,72,48],K:[0,36,40,48,32,48,40,36],L:[64,64,64,64,64,64,64,124],M:[129,195,165,153,129,129,129,129],N:[0,66,98,82,74,70,66,0],O:[60,66,66,66,66,66,66,60],P:[60,34,34,34,60,32,32,32],Q:[28,34,34,34,34,38,34,29],R:[60,34,34,34,60,36,34,33],S:[0,30,32,32,62,2,2,60],T:[0,62,8,8,8,8,8,8],U:[66,66,66,66,66,66,34,28],V:[66,66,66,66,66,66,36,24],W:[0,73,73,73,73,42,28,0],X:[0,65,34,20,8,20,34,65],Y:[65,34,20,8,8,8,8,8],Z:[0,127,2,4,8,16,32,127],a:[0,0,14,1,15,17,15,0],b:[16,16,22,25,17,17,30,0],c:[0,0,14,17,16,17,14,0],d:[1,1,13,19,17,17,15,0],e:[0,0,14,17,31,16,14,0],f:[2,5,4,14,4,4,4,0],g:[0,13,19,19,13,1,14,0],h:[16,16,22,25,17,17,17,0],i:[4,0,12,4,4,4,14,0],j:[2,0,6,2,2,18,12,0],k:[8,8,9,10,12,10,9,0],l:[12,4,4,4,4,4,14,0],m:[0,0,26,21,21,21,21,0],n:[0,0,22,25,17,17,17,0],o:[0,0,14,17,17,17,14,0],p:[0,22,25,25,22,16,16,0],q:[0,13,19,19,13,1,1,0],r:[0,0,22,25,16,16,16,0],s:[0,0,15,16,30,1,31,0],t:[8,8,28,8,8,9,6,0],u:[0,0,18,18,18,18,13,0],v:[0,0,17,17,17,10,4,0],w:[0,0,17,17,21,21,10,0],x:[0,0,17,10,4,10,17,0],y:[0,0,17,17,19,13,1,14],z:[0,0,31,2,4,8,31,0],euro:[14,16,124,32,124,32,16,14],cent:[0,60,66,64,64,82,60,32],angryface:[0,102,102,0,24,36,66,129],circle:[60,66,129,129,129,129,66,60],cdot:[60,66,129,153,153,129,66,60],donut:[60,126,255,231,231,255,126,60],equality:[0,255,255,0,0,255,255,0],ball:[60,126,255,255,255,255,126,60],thinsquare:[255,129,129,129,129,129,129,255],thicksquare:[255,255,195,195,195,195,255,255],centeredsquare1:[0,0,60,60,60,60,0,0],centeredsquare2:[0,0,60,60,60,60,0,0],arrowright:[0,4,6,255,255,6,4,0],arrowleft:[0,32,96,255,255,96,32,0],note:[4,6,7,4,60,124,124,56],clock:[60,82,145,145,143,129,66,60],heartoutline:[102,153,129,129,66,36,24,0],heartfull:[102,255,255,255,126,60,24,0],thincheck:[0,0,1,2,4,136,80,32],thickcheck:[0,1,3,6,140,216,112,32],speaker:[3,7,63,63,63,63,7,3],sound:[0,64,128,0,192,0,128,64],xbig:[195,231,126,60,60,126,231,195],target:[60,126,195,219,219,195,126,60],bell:[24,60,60,60,60,126,0,24],smile:[0,102,102,0,0,129,66,60],frown:[0,102,102,0,0,60,66,129],winkright:[0,96,102,0,0,129,66,60],winkleft:[0,6,102,0,0,129,66,60],blink:[0,0,102,0,0,129,66,60],laughing:[0,102,102,0,255,129,66,60],tongueout:[0,102,102,0,0,126,10,4],expressionless:[0,102,102,0,0,255,0,0],ascprogress1:[128,128,128,128,128,128,128,128],ascprogress2:[192,192,192,192,192,192,192,192],ascprogress3:[224,224,224,224,224,224,224,224],ascprogress4:[240,240,240,240,240,240,240,240],ascprogress5:[248,248,248,248,248,248,248,248],ascprogress6:[252,252,252,252,252,252,252,252],ascprogress7:[254,254,254,254,254,254,254,254],fullprogress:[255,255,255,255,255,255,255,255],descprogress1:[127,127,127,127,127,127,127,127],descprogress2:[63,63,63,63,63,63,63,63],descprogress3:[31,31,31,31,31,31,31,31],descprogress4:[15,15,15,15,15,15,15,15],descprogress5:[7,7,7,7,7,7,7,7],descprogress6:[3,3,3,3,3,3,3,3],descprogress7:[1,1,1,1,1,1,1,1],ascchart1:[255,0,0,0,0,0,0,0],ascchart2:[255,255,0,0,0,0,0,0],ascchart3:[255,255,255,0,0,0,0,0],ascchart4:[255,255,255,255,0,0,0,0],ascchart5:[255,255,255,255,255,0,0,0],ascchart6:[255,255,255,255,255,255,0,0],ascchart7:[255,255,255,255,255,255,255,0],ascchart8:[255,255,255,255,255,255,255,255],descchart1:[0,255,255,255,255,255,255,255],descchart2:[0,0,255,255,255,255,255,255],descchart3:[0,0,0,255,255,255,255,255],descchart4:[0,0,0,0,255,255,255,255],descchart5:[0,0,0,0,0,255,255,255],descchart6:[0,0,0,0,0,0,255,255],descchart7:[0,0,0,0,0,0,0,255],descchart8:[0,0,0,0,0,0,0,0],borderleft1:[1,1,1,1,1,1,1,1],borderleft2:[3,2,2,2,2,2,2,3],borderleft3:[7,4,4,4,4,4,4,7],borderleft4:[15,8,8,8,8,8,8,15],borderleft5:[31,16,16,16,16,16,16,31],borderleft6:[63,32,32,32,32,32,32,63],borderleft7:[127,64,64,64,64,64,64,127],borderleft8:[255,128,128,128,128,128,128,255],bordertopbottom5:[255,0,0,0,0,0,0,255],borderright1:[128,128,128,128,128,128,128,128],borderright2:[192,64,64,64,64,64,64,192],borderright3:[224,32,32,32,32,32,32,224],borderright4:[240,16,16,16,16,16,16,240],borderright5:[248,8,8,8,8,8,8,248],borderright6:[252,4,4,4,4,4,4,252],borderright7:[254,2,2,2,2,2,2,254],borderright8:[255,1,1,1,1,1,1,255],box1:[224,224,224,0,0,0,0,0],box2:[7,7,7,0,0,0,0,0],box3:[231,231,231,0,0,0,0,0],box4:[0,0,0,0,0,7,7,7],box5:[7,7,7,0,0,7,7,7],box6:[224,224,224,0,0,7,7,7],box7:[231,231,231,0,0,7,7,7],box8:[0,0,0,0,0,224,224,224],box9:[7,7,7,0,0,224,224,224],box10:[224,224,224,0,0,224,224,224],box11:[231,231,231,0,0,224,224,224],box12:[0,0,0,0,0,231,231,231],box13:[7,7,7,0,0,231,231,231],box14:[224,224,224,0,0,231,231,231],box15:[231,231,231,0,0,231,231,231],checkerboard1:[170,85,170,85,170,85,170,85],checkerboard2:[85,170,85,170,85,170,85,170],checkerboard3:[93,234,87,186,85,238,85,187],checkerboard4:[204,51,51,204,204,51,51,204],checkerboard5:[204,204,51,51,204,204,51,51],checkerboard6:[51,204,204,51,51,204,204,51],checkerboard7:[51,51,204,204,51,51,204,204],pointerright:[32,48,56,60,60,56,48,32],pointerup:[0,0,24,60,126,255,0,0],pointerleft:[4,12,28,60,60,28,12,4],pointerdown:[0,0,255,126,60,24,0,0],arrowne:[0,62,6,10,18,34,64,128],arrownw:[0,124,96,80,72,68,2,1],arrowsw:[1,2,68,72,80,96,124,0],arrowse:[128,64,34,18,10,6,62,0],dice1:[0,0,0,24,24,0,0,0],dice2:[192,192,0,0,0,0,3,3],dice3:[192,192,0,24,24,0,3,3],dice4:[195,195,0,0,0,0,195,195],dice5:[195,195,0,24,24,0,195,195],dice6:[195,195,0,195,195,0,195,195],outlinedplus1:[60,36,231,129,129,231,36,60],outlinedplus2:[255,231,231,129,129,231,231,255],twoboxes1:[240,144,144,240,15,9,9,15],twoboxes2:[240,144,144,254,18,18,30,0],twoboxes3:[240,144,188,244,36,60,0,0],twoboxes4:[240,248,216,248,120,0,0,0],twoboxes5:[15,9,9,15,240,144,144,240],fourboxes:[255,153,153,255,255,153,153,255],chain1:[240,248,216,248,120,0,0,0],chain2:[240,144,188,244,47,61,9,15]},SPECIAL_CHARS:{0:[60,102,102,102,102,102,102,60],1:[24,56,120,24,24,24,24,24],2:[60,102,6,12,24,48,96,126],3:[60,102,6,28,6,6,102,60],4:[14,30,54,102,102,126,6,6],5:[126,96,96,124,6,6,102,60],6:[60,102,96,124,102,102,102,60],7:[126,126,6,12,24,24,24,24],8:[60,102,102,60,102,102,102,60],9:[60,102,102,62,6,6,102,60],10:[94,82,82,82,82,94,0,255],11:[36,36,36,36,36,36,0,255],12:[94,66,68,72,80,94,0,255],13:[94,66,78,66,66,94,0,255],14:[82,82,94,66,66,66,0,255],15:[94,80,94,66,66,94,0,255],16:[94,80,94,82,82,94,0,255],17:[94,66,68,72,72,72,0,255],18:[94,82,94,82,82,94,0,255],19:[94,82,94,66,66,94,0,255]},DIGIT_CHARS:{0:126,1:48,2:109,3:121,4:51,5:91,6:95,7:112,8:127,9:123,\" \":0,\".\":128,\":\":255,\"!\":176,A:119,a:125,B:127,b:31,C:78,c:13,D:126,d:61,E:79,e:111,F:71,f:71,G:94,g:123,H:55,h:23,I:48,i:16,J:60,j:56,K:55,k:23,L:14,l:6,M:85,m:85,N:21,n:21,O:126,o:29,P:103,p:103,Q:115,q:115,R:119,r:5,S:91,s:91,T:70,t:15,U:62,u:28,V:39,v:35,W:63,w:43,X:37,x:37,Y:59,y:51,Z:109,z:109}}},{}],105:[function(t,e,i){(function(i){(function(){const r=t(\"../board\"),n=t(\"../animation\"),s=t(\"../expander\"),{constrain:o,map:a,scale:l}=t(\"../fn\"),h=r.Pins,c=new Map,u={PCA9685:{initialize:{value({address:t,pwmRange:e,frequency:i,pin:r}){const n=c.get(this);this.address=t||64,this.pwmRange=e||[0,4095],this.frequency=i||200,n.expander=s.get({address:this.address,controller:this.controller,bus:this.bus,pwmRange:this.pwmRange,frequency:this.frequency}),this.pin=n.expander.normalize(r),n.mode=this.io.MODES.PWM}},update:{writable:!0,value(t){const e=c.get(this),i=void 0!==t?t:e.value,n=e.isAnode?255-r.constrain(i,0,255):i;this.write(n)}},write:{writable:!0,value(t){c.get(this).expander.analogWrite(this.pin,t)}}},DEFAULT:{initialize:{value({pin:t},e){const i=c.get(this),r=h.isFirmata(this);let n;r&&\"string\"==typeof e&&e.length>1&&\"A\"===e[0]&&(e=this.io.analogPins[+e.slice(1)]),n=this.io.defaultLed||13,e=+e,r&&this.io.analogPins.includes(e)?(this.pin=e,i.mode=this.io.MODES.OUTPUT):(this.pin=void 0===t?n:t,i.mode=this.io.MODES[this.board.pins.isPwm(this.pin)?\"PWM\":\"OUTPUT\"]),this.io.pinMode(this.pin,i.mode)}},update:{writable:!0,value(t){const e=c.get(this),i=void 0!==t?t:e.value;let n=e.isAnode?255-r.constrain(i,0,255):i;n=a(n,0,255,0,this.board.RESOLUTION.PWM),n!==this.io.LOW&&n!==this.io.HIGH&&this.mode!==this.io.MODES.PWM&&r.Pins.Error({pin:this.pin,type:\"PWM\",via:\"Led\"}),e.mode===this.io.MODES.OUTPUT&&(n=i),this.write(n)}},write:{writable:!0,value(t){const e=c.get(this);e.mode===this.io.MODES.OUTPUT&&this.io.digitalWrite(this.pin,t),e.mode===this.io.MODES.PWM&&this.io.analogWrite(this.pin,t)}}}};class d{constructor(t){const e=\"object\"==typeof t?t.pin:t;r.Component.call(this,t=r.Options(t)),r.Controller.call(this,u,t);const i={isAnode:t.isAnode,isOn:!1,isRunning:!1,value:null,direction:1,mode:null,intensity:0,interval:null};c.set(this,i),Object.defineProperties(this,{value:{get:()=>i.value},mode:{get:()=>i.mode},isOn:{get:()=>!!i.value},isRunning:{get:()=>i.isRunning},animation:{get:()=>i.animation}}),\"function\"==typeof this.initialize&&this.initialize(t,e)}on(){const t=c.get(this);return t.mode===this.io.MODES.OUTPUT&&(t.value=this.io.HIGH),t.mode===this.io.MODES.PWM&&(null===t.value&&(t.value=255),t.interval||(t.value=255),0===t.value&&(t.value=255)),this.update(),this}off(){return c.get(this).value=0,this.update(),this}toggle(){return this[this.isOn?\"off\":\"on\"]()}brightness(t){return c.get(this).value=t,this.update(),this}intensity(t){const e=c.get(this);return 0===arguments.length?e.intensity:(e.intensity=o(t,0,100),this.brightness(l(e.intensity,0,100,0,255)))}[n.normalize](t){const e=c.get(this);return null===t[0]&&(t[0]={value:e.value||0}),t.map(t=>(null!==t&&(\"number\"==typeof t?t={value:t}:(\"number\"==typeof t.brightness&&(t.value=t.brightness,delete t.brightness),\"number\"==typeof t.intensity&&(t.value=l(t.intensity,0,100,0,255),delete t.intensity)),t.easing||(t.easing=\"linear\")),t))}[n.render](t){return c.get(this).value=t[0],this.update()}pulse(t,e){const i=c.get(this);this.stop();const r={duration:\"number\"==typeof t?t:1e3,keyFrames:[0,255],metronomic:!0,loop:!0,easing:\"inOutSine\",onloop(){\"function\"==typeof e&&e()}};return\"object\"==typeof t&&Object.assign(r,t),\"function\"==typeof t&&(e=t),i.isRunning=!0,i.animation=i.animation||new n(this),i.animation.enqueue(r),this}fade(t,e,i){const r=c.get(this);this.stop();const s={duration:\"number\"==typeof e?e:1e3,keyFrames:[null,\"number\"==typeof t?t:255],easing:\"outSine\",oncomplete(){r.isRunning=!1,\"function\"==typeof i&&i()}};return\"object\"==typeof t&&Object.assign(s,t),\"function\"==typeof t&&(i=t),\"object\"==typeof e&&Object.assign(s,e),\"function\"==typeof e&&(i=e),r.isRunning=!0,r.animation=r.animation||new n(this),r.animation.enqueue(s),this}fadeIn(t,e){return this.fade(255,t||1e3,e)}fadeOut(t,e){return this.fade(0,t||1e3,e)}blink(t,e){const i=c.get(this);return this.stop(),\"function\"==typeof t&&(e=t,t=null),i.isRunning=!0,i.interval=setInterval(()=>{this.toggle(),\"function\"==typeof e&&e()},t||100),this}stop(){const t=c.get(this);return t.interval&&clearInterval(t.interval),t.animation&&t.animation.stop(),t.interval=null,t.isRunning=!1,this}}d.prototype.strobe=d.prototype.blink,i.env.IS_TEST_MODE&&(d.Controllers=u,d.purge=function(){c.clear()}),e.exports=d}).call(this)}).call(this,t(\"_process\"))},{\"../animation\":80,\"../board\":82,\"../expander\":92,\"../fn\":93,_process:158}],106:[function(t,e,i){(function(i){(function(){const r=t(\"../board\"),n=t(\"./led-chars\"),s=new Map;class o{constructor(t){r.Component.call(this,t=r.Options(t)),r.Controller.call(this,l,t),this.digitOrder=1,this.isMatrix||(this.colon=t.colon||!1);const e=t.devices||(t.addresses?t.addresses.length:1);this.memory=Array(64).fill(0),t.dims=t.dims||o.MATRIX_DIMENSIONS[\"8x8\"],\"string\"==typeof t.dims&&(t.dims=o.MATRIX_DIMENSIONS[t.dims]),Array.isArray(t.dims)&&(t.dims={rows:t.dims[0],columns:t.dims[1]});const i={devices:e,digits:t.digits||8,isMatrix:!!t.isMatrix,isBicolor:!!t.isBicolor,rows:t.dims.rows,columns:t.dims.columns};if(8!==i.columns&&16!==i.columns||8!==i.rows&&16!==i.rows||i.columns+i.rows===32)throw new Error(\"Invalid matrix dimensions specified: must be 8x8, 16x8 or 8x16\");Object.defineProperties(this,{devices:{get:()=>i.devices},digits:{get:()=>i.digits},isMatrix:{get:()=>i.isMatrix},isBicolor:{get:()=>i.isBicolor},rows:{get:()=>i.rows},columns:{get:()=>i.columns}}),s.set(this,i),this.initialize(t)}each(t){for(let e=0;e2&&\":\"!==i[2]&&\" \"!==i[2]&&i.splice(2,0,\" \"),(i||[]).forEach(function(t,i){this.digit(e.device,i,t)},this),this}brightness(t,e){return 1===arguments.length?(e=t,this.each(function(t){this.brightness(t,e)})):this.send(t,this.OP.BRIGHTNESS||o.OP.BRIGHTNESS,r.map(e,0,100,0,15)),this}column(t,e,i){let r;if(!this.isMatrix)throw new Error(\"The `column` method is only supported for Matrix devices\");if(2===arguments.length)i=e,e=t,this.each(function(t){this.column(t,e,i)});else for(let n=0;n>this.rows-1-n,r&=1,this.led(t,n,e,r);return this}draw(t,e){let i;if(1===arguments.length)e=t,this.each(function(t){this.draw(t,e)});else if(this.isMatrix){if(i=Array.isArray(e)?e:n.MATRIX_CHARS[e],void 0!==i){if(i.length!==this.rows&&i.length!==this.columns)throw new Error(`Invalid character: ${i}`);const e=i.length;for(let t=0;t{e[i]=this[i].bind(this,t)}),Object.getOwnPropertyNames(this).forEach(i=>{this[i]&&\"function\"==typeof this[i]&&(e[i]=this[i].bind(this,t))}),e}}let a=new Set([112,113,114,115,116,117,118,119]);const l={HT16K33:{OP:{value:{SHUTDOWN:32,BRIGHTNESS:224,BLINK:128}},initialize:{writable:!0,value(t){const e=s.get(this),i=Array.from(a);if(0===i.length)throw new Error(\"There are no available HT16K33 controller addresses\");this.addresses=t.addresses||(t.address?[t.address]:null),null===this.addresses&&(this.addresses=i.slice(0,e.devices)),this.addresses.forEach(t=>{if(!a.has(t))throw new Error(`Invalid HT16K33 controller address: ${t}`);a.delete(t)}),this.rotation=t.rotation||1,16!==this.columns||t.rotation||(this.rotation=0),this.buffer=Array(this.rows).fill([]),this.isMatrix||(this.colon=!0),t.addresses=this.addresses,this.io.i2cConfig(t),this.each(function(t){this.on(t),this.blink(t,!1),this.brightness(t,100),this.clear(t)})}},blink:{writable:!0,value(t,e){if(1===arguments.length)e=t,this.each(function(t){this.blink(t,e)});else{let i=null;switch(e){case!1:i=0;break;case\"slow\":i=6;break;case\"normal\":i=4;break;case\"fast\":i=2}if(null==i)return;this.send(t,1|this.OP.BLINK,i)}return this}},clear:{writable:!0,value(t){let e;if(void 0===t)this.each(function(t){this.clear(t)});else{e=t*this.columns;for(let i=0;i=l)return this;if(s<0||s>=h)return this;switch(this.rotation){case 1:h=this.rows,l=this.columns,n=s,s=a,a=n,s=h-s-1;break;case 2:s=h-s-1,a=l-a-1;break;case 3:h=this.rows,l=this.columns,n=s,s=a,a=n,a=l-a-1}this.isBicolor?r===o.COLORS.GREEN?(this.buffer[t][a]|=1<>8);this.io.i2cWrite(this.addresses[t],e)}},row:{writable:!0,value(t,e,i){if(!this.isMatrix)throw new Error(\"The `row` method is only supported for Matrix devices\");if(\"number\"==typeof i&&(i=`0000000000000000${parseInt(i,10).toString(2)}`.substr(0-this.columns,this.columns)),2===arguments.length)i=e,e=t,this.each(function(t){this.row(t,e,i)});else for(let r=0;r0&&i<255&&(i=(i=`00000000${i.toString(2)}`.slice(-8).split(\"\")).shift()+i.reverse().join(\"\"),i=parseInt(i,2)),this.buffer[t][e]=i,this.writeDisplay(t),this}}},DEFAULT:{OP:{value:{}},initialize:{writable:!0,value({pins:t}){this.pins={data:t.data,clock:t.clock,cs:t.cs||t.latch},[\"data\",\"clock\",\"cs\"].forEach(function(t){this.io.pinMode(this.pins[t],this.io.MODES.OUTPUT)},this),this.digitOrder=-1,this.digitOrder=-1;for(let t=0;t>i,r?this.memory[n+e]=this.memory[n+e]|s:(s=~s,this.memory[n+e]=this.memory[n+e]&s),this.send(t,e+1,this.memory[n+e])),this}},row:{writable:!0,value(t,e,i){if(!this.isMatrix)throw new Error(\"The `row` method is only supported for Matrix devices\");let r;return\"string\"==typeof i&&(i=parseInt(i,2)),2===arguments.length?(i=e,e=t,this.each(function(t){this.row(t,e,i)})):(r=t*this.columns,this.memory[r+e]=i,this.send(t,e+1,this.memory[r+e])),this}},scanLimit:{writable:!0,value(t,e){return 1===arguments.length?(e=t,this.each(function(t){this.scanLimit(t,e)})):this.send(t,o.OP.SCANLIMIT,e),this}},send:{writable:!0,value(t,e,i){if(3!==arguments.length)throw new Error(\"`send` expects three arguments: device, opcode, data\");const r=2*t,n=2*this.devices,s=[];if(t0;t--)this.board.shiftOut(this.pins.data,this.pins.clock,s[t-1]);this.io.digitalWrite(this.pins.cs,this.io.HIGH)}return this}}}};o.DEFAULTS={DECODING:0,BRIGHTNESS:3,SCANLIMIT:7,SHUTDOWN:1,DISPLAYTEST:0},Object.freeze(o.DEFAULTS),o.OP={},o.OP.NOOP=0,o.OP.DIGIT0=1,o.OP.DIGIT1=2,o.OP.DIGIT2=3,o.OP.DIGIT3=4,o.OP.DIGIT4=5,o.OP.DIGIT5=6,o.OP.DIGIT6=7,o.OP.DIGIT7=8,o.OP.DECODEMODE=9,o.OP.INTENSITY=10,o.OP.SCANLIMIT=11,o.OP.SHUTDOWN=12,o.OP.DISPLAYTEST=15,o.OP.BRIGHTNESS=o.OP.INTENSITY,o.OP.DECODING=o.OP.DECODEMODE,o.OP.DISPLAY=o.OP.DISPLAYTEST,o.OP.POWERDOWN=o.OP.SHUTDOWN,Object.freeze(o.OP),o.COLORS={RED:1,YELLOW:2,GREEN:3},o.DIRECTIONS={UP:1,RIGHT:2,DOWN:3,LEFT:4,1:\"UP\",2:\"RIGHT\",3:\"DOWN\",4:\"LEFT\"},Object.freeze(o.DIRECTIONS);const h=[[224,160,160,160,160,160,224,0],[64,192,64,64,64,64,224,0],[224,32,32,224,128,128,224,0],[224,32,32,96,32,32,224,0],[32,96,160,224,32,32,32,0],[224,128,128,224,32,32,224,0],[224,128,128,224,160,160,224,0],[224,32,32,32,32,32,32,0],[224,160,160,64,160,160,224,0],[224,160,160,224,32,32,224,0]];let c=\"\";for(let t=0;t<10;t++)for(let e=0;e<10;e++){c=`${t}${e}`,n.MATRIX_CHARS[c]=[];for(let i=0;i<8;i++)n.MATRIX_CHARS[c][i]=h[t][i]|h[e][i]>>>4}o.MATRIX_DIMENSIONS={\"16x8\":{rows:16,columns:8},\"8x16\":{rows:8,columns:16},\"8x8\":{rows:8,columns:8}},o.MATRIX_CHARS=n.MATRIX_CHARS,o.DIGIT_CHARS=n.DIGIT_CHARS,i.env.IS_TEST_MODE&&(o.Controllers=l,o.purge=()=>{a=new Set([112,113,114,115,116,117,118,119]),s.clear()}),e.exports=o}).call(this)}).call(this,t(\"_process\"))},{\"../board\":82,\"./led-chars\":104,_process:158}],107:[function(t,e,i){const r=t(\"../animation\"),n=t(\"./led\"),s=t(\"../mixins/collection\");class o extends s{constructor(t){super(t)}get type(){return n}[r.normalize](t){return t.map((t,e)=>null!==t?this[e][r.normalize](t):t)}[r.render](t){return this.each((e,i)=>e[r.render]([t[i]]))}}s.installMethodForwarding(o.prototype,n.prototype,{skip:[r.normalize,r.render]}),s.installCallbackReconciliation(o.prototype,[\"pulse\",\"fade\",\"fadeIn\",\"fadeOut\",\"blink\"]),n.Collection=o,e.exports=o},{\"../animation\":80,\"../mixins/collection\":112,\"./led\":105}],108:[function(t,e,i){const r=t(\"./ledcontrol\");e.exports=class extends r{constructor(t){t.isMatrix=!0,super(t)}static get CHARS(){return r.MATRIX_CHARS}}},{\"./ledcontrol\":106}],109:[function(t,e,i){(function(i){(function(){const r=t(\"../board\"),n=t(\"../animation\"),s=t(\"../expander\"),o=t(\"color-convert\"),{constrain:a,map:l}=t(\"../fn\"),h=new Map,c={DEFAULT:{initialize:{value({pins:t,debug:e}){u.colors.forEach((i,n)=>{const s=t[n];e&&!this.board.pins.isPwm(s)&&r.Pins.Error({pin:s,type:\"PWM\",via:\"Led.RGB\"}),this.io.pinMode(s,this.io.MODES.PWM),this.pins[n]=s})}},write:{writable:!0,value(t){const e=h.get(this);u.colors.forEach((i,r)=>{const n=this.pins[r];let s=t[i];e.isAnode&&(s=255-a(s,0,255)),s=l(s,0,255,0,this.board.RESOLUTION.PWM),this.io.analogWrite(n,s)})}}},PCA9685:{initialize:{value({address:t,pwmRange:e,frequency:i,pins:r}){const n=h.get(this);this.address=t||64,this.pwmRange=e||[0,4095],this.frequency=i||200,n.expander=s.get({address:this.address,controller:this.controller,bus:this.bus,pwmRange:this.pwmRange,frequency:this.frequency}),u.colors.forEach((t,e)=>{this.pins[e]=n.expander.normalize(r[e]),n.expander.analogWrite(this.pins[e],0)})}},write:{writable:!0,value(t){const e=h.get(this);u.colors.forEach((i,r)=>{const n=this.pins[r];let s=t[i];e.isAnode&&(s=255-a(s,0,255)),e.expander.analogWrite(n,s)})}}},BLINKM:{REGISTER:{value:{GO_TO_RGB_COLOR_NOW:110,STOP_SCRIPT:111}},initialize:{value(t){this.address=t.address||9,t.address=this.address,this.board.Drivers[this.address]||(this.io.i2cConfig(t),this.board.Drivers[this.address]={initialized:!1},this.io.i2cWrite(this.address,[this.REGISTER.STOP_SCRIPT]),this.board.Drivers[this.address].initialized=!0)}},write:{writable:!0,value({red:t,green:e,blue:i}){this.io.i2cWrite(this.address,[this.REGISTER.GO_TO_RGB_COLOR_NOW,t,e,i])}}}};c.ESPLORA={initialize:{value(t){t.pins=[5,10,9],this.pins=[],c.DEFAULT.initialize.value.call(this,t)}},write:c.DEFAULT.write};class u{constructor(t){Array.isArray(t)?t={pins:t}:\"object\"!=typeof t.pins||Array.isArray(t.pins)||(t.pins=[t.pins.red,t.pins.green,t.pins.blue]),r.Component.call(this,t=r.Options(t)),r.Controller.call(this,c,t);const e={red:255,green:255,blue:255,intensity:100,isAnode:t.isAnode||!1,interval:null,values:{red:255,green:255,blue:255}};h.set(this,e),Object.defineProperties(this,{isOn:{get:()=>u.colors.some(t=>e[t]>0)},isRunning:{get:()=>!!e.interval},isAnode:{get:()=>e.isAnode},values:{get:()=>Object.assign({},e.values)},update:{value(t){const e=h.get(this);t=t||this.color(),e.values=u.ToScaledRGB(e.intensity,t),this.write(e.values),Object.assign(e,t)}}}),this.initialize(t),this.off()}color(t,e,i){const r=h.get(this);let n;if(0===arguments.length)return n=this.isOn?r:r.prev,u.colors.reduce((t,e)=>(t[e]=Math.round(n[e]),t),{});const s=u.ToRGB(t,e,i);return u.colors.forEach(t=>{let e=s[t];if(null==e)throw new Error(`Led.RGB.color: invalid color ([${[s.red,s.green,s.blue].join(\",\")}])`);e=a(e,0,255),s[t]=e}),this.update(s),this}on(){const t=h.get(this);let e;return this.isOn||(e=t.prev||{red:255,green:255,blue:255},t.prev=null,this.update(e)),this}off(){const t=h.get(this);return this.isOn&&(t.prev=u.colors.reduce((e,i)=>(e[i]=t[i],e),{}),this.update({red:0,green:0,blue:0})),this}blink(t,e){const i=h.get(this);return this.stop(),\"function\"==typeof t&&(e=t,t=null),i.interval=setInterval(()=>{this.toggle(),\"function\"==typeof e&&e()},t||100),this}toggle(){return this[this.isOn?\"off\":\"on\"]()}stop(){const t=h.get(this);return t.interval&&clearInterval(t.interval),t.animation&&t.animation.stop(),t.interval=null,this}intensity(t){const e=h.get(this);return 0===arguments.length?e.intensity:(e.intensity=a(t,0,100),this.update(),this)}[n.normalize](t){const e=h.get(this);return null===t[0]&&(t[0]=e.values),t.reduce((t,i)=>{const r=i;let n={},s=null,o=e.intensity;if(null!==i){if(\"number\"==typeof r)throw new Error(\"RGB LEDs expect a complete keyFrame object or hexadecimal string value\");\"string\"==typeof r&&(s=r),Array.isArray(r)?s=r:\"object\"==typeof r&&(s=void 0!==r.color?r.color:r),\"number\"==typeof i.intensity&&(o=i.intensity,delete i.intensity),n.easing=i.easing||\"linear\",n.value=u.ToScaledRGB(o,u.ToRGB(s))}else n=i;return t.push(n),t},[])}[n.render](t){return this.color(t[0])}}function d(t){return\"string\"==typeof t&&t.endsWith(\"%\")}u.prototype[n.keys]=u.colors,u.colors=[\"red\",\"green\",\"blue\"],u.ToScaledRGB=(t,e)=>{const i=t/100;return u.colors.reduce((t,r)=>(t[r]=Math.round(e[r]*i),t),{})},u.ToRGB=(t,e,i)=>{let r,n={},s=0;if(void 0!==t&&(s|=4),void 0!==e&&(s|=2),void 0!==i&&(s|=1),4==(4|s)){if(r=t,null==r)throw new Error(`Invalid color (${r})`);if(Array.isArray(r))n={red:r[0],green:r[1],blue:r[2]};else if(\"object\"==typeof r)n={red:r.red,green:r.green,blue:r.blue};else if(\"string\"==typeof r)if(/^#?[0-9A-Fa-f]{6}$/.test(r))7===r.length&&\"#\"===r[0]&&(r=r.slice(1)),n={red:parseInt(r.slice(0,2),16),green:parseInt(r.slice(2,4),16),blue:parseInt(r.slice(4,6),16)};else{if(!/^rgb/.test(r))return u.ToRGB(o.keyword.rgb(r.toLowerCase()));{const t=r.match(/^rgba?\$([^)]+)\$$/)[1].split(/[\\s,]+/);d(t[0])&&t.forEach((e,i)=>{i<=2&&(t[i]=Math.round(parseInt(e,10)/100*255))}),n={red:parseInt(t[0],10),green:parseInt(t[1],10),blue:parseInt(t[2],10)},t.length>3&&(d(t[3])&&(t[3]=parseInt(t[3],10)/100),n=u.ToScaledRGB(100*parseFloat(t[3]),n))}}}else n={red:t,green:e,blue:i};return n},u.prototype.strobe=u.prototype.blink,i.env.IS_TEST_MODE&&(u.Controllers=c,u.purge=()=>{h.clear()}),e.exports=u}).call(this)}).call(this,t(\"_process\"))},{\"../animation\":80,\"../board\":82,\"../expander\":92,\"../fn\":93,_process:158,\"color-convert\":140}],110:[function(t,e,i){const r=t(\"../animation\"),n=t(\"../mixins/collection\"),s=t(\"./rgb\");class o extends n{constructor(t){super(t)}get type(){return s}[r.normalize](t){return t.map((t,e)=>null!==t?this[e][r.normalize](t):t)}[r.render](t){return this.each((e,i)=>e[r.render]([t[i]]))}}n.installMethodForwarding(o.prototype,s.prototype,{skip:[r.normalize,r.render]}),n.installCallbackReconciliation(o.prototype,[\"blink\"]),o.prototype[r.keys]=s.colors,e.exports=o},{\"../animation\":80,\"../mixins/collection\":112,\"./rgb\":109}],111:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./evshield\"),s=t(\"./mixins/withinable\"),{uint16:o,toFixed:a,scale:l}=t(\"./fn\"),h=new Map,c={DEFAULT:{initialize:{value(t,e){this.io.pinMode(this.pin,this.io.MODES.ANALOG),this.io.analogRead(this.pin,e)}},toIntensityLevel:{value:t=>a(l(t,0,1023,0,100)/100,2)}},EVS_EV3:{initialize:{value(t,e){const i=h.get(this);t.mode&&(t.mode=t.mode.toUpperCase()),i.mode=\"REFLECTED\"===t.mode?n.Type_EV3_LIGHT_REFLECTED:n.Type_EV3_LIGHT,i.shield=n.shieldPort(t.pin),i.ev3=new n(Object.assign(t,{io:this.io})),i.ev3.setup(i.shield,n.Type_EV3),i.ev3.write(i.shield,129+i.shield.offset,i.mode),i.ev3.read(i.shield,n.Light,n.Light_Bytes,t=>{const i=t[0]|t[1]<<8;e(i)})}},toIntensityLevel:{value:t=>a(t/100,2)}},EVS_NXT:{initialize:{value(t,e){const i=h.get(this);t.mode&&(t.mode=t.mode.toUpperCase()),i.mode=\"REFLECTED\"===t.mode?n.Type_NXT_LIGHT_REFLECTED:n.Type_NXT_LIGHT,i.shield=n.shieldPort(t.pin),i.ev3=new n(Object.assign(t,{io:this.io})),i.ev3.setup(i.shield,i.mode),i.ev3.read(i.shield,i.shield.analog,n.Analog_Bytes,t=>{e(t[0]|t[1]<<8)})}},toIntensityLevel:{value:t=>a(l(t,0,1023,100,0)/100,2)}},TSL2561:{ADDRESSES:{value:[41,57,73]},REGISTER:{value:{CONTROL:0,TIMING:1,READ:44}},initialize:{value(e,i){const r=t=>128|t,{Drivers:n}=t(\"./sip\"),s=n.addressResolver(this,e);this.io.i2cConfig(e),this.io.i2cWriteReg(s,r(this.REGISTER.CONTROL),3);const a=[13,101,402],l=[15,120,450],h=[29975,4071,65536];let c=16,u=0,d=a[u],p=0;Object.defineProperties(this,{gain:{get:()=>c,set(t){if(0!==t&&16!==t)throw new RangeError(\"Invalid gain. Expected one of: 0, 16\");c=t,this.io.i2cWriteReg(s,r(this.REGISTER.TIMING),u|c)}},integration:{get:()=>d,set(t){if(u=a.indexOf(t),-1===u)throw new RangeError(\"Invalid integration. Expected one of: 13, 101, 402\");d=t,this.io.i2cWriteReg(s,r(this.REGISTER.TIMING),u|c)}},lux:{get:()=>p}}),this.gain=c,this.integration=d;const f=()=>{setTimeout(()=>{this.io.i2cReadOnce(s,r(this.REGISTER.READ),4,t=>{let e=o(t[1],t[0]),r=o(t[3],t[2]),n=0,s=0,a=h[u];c||(a<<=4),e=e*a>>10,r=r*a>>10;let l=0;e&&(l=(r<<10)/e),l=Math.round(l);const d=l+1>>1;d>=0&&d<=64?(n=498,s=446):d<=128?(n=532,s=721):d<=192?(n=575,s=891):d<=256?(n=624,s=1022):d<=312?(n=367,s=508):d<=410?(n=210,s=251):d<=666?(n=24,s=18):d>666&&(n=0,s=0);let g=e*n-r*s;g<0&&(g=0),g+=8192,p=g>>>14,i(p),f()})},l[u])};f()}},toLux:{value:t=>t},toIntensityLevel:{value:t=>a(l(t,0,17e3,0,100)/100,2)}},BH1750:{ADDRESSES:{value:[35,92]},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\"),n=r.addressResolver(this,e),s=e.mode||16;this.io.i2cConfig(e),this.io.i2cWrite(n,s);const a=()=>{setTimeout(()=>{this.io.i2cReadOnce(n,2,t=>{i(o(t[0],t[1])),a()})},120)};a()}},toLux:{value:t=>Math.round(t/1.2)},toIntensityLevel:{value:t=>a(l(t/1.2,0,65535,0,100)/100,2)}}};c.ALSPT19=c[\"ALS-PT19\"]=c.DEFAULT;class u extends s{constructor(t){super(),r.Component.call(this,t=r.Options(t)),r.Controller.call(this,c,t);let e=0,i=0,{freq:n=25}=t;h.set(this,{}),this.toIntensityLevel||(this.toIntensityLevel=t.toIntensityLevel||(t=>t)),this.toLux||(this.toLux=t.toLux||(t=>t)),Object.defineProperties(this,{value:{get:()=>e},level:{get(){return this.toIntensityLevel(e)}}}),\"function\"==typeof this.initialize&&this.initialize(t,t=>e=t),void 0===this.lux&&Object.defineProperty(this,\"lux\",{get(){return this.toLux(e)}});const s={level:0,lux:0};setInterval(()=>{s.level=this.level,s.lux=this.lux,this.emit(\"data\",s),e!==i&&(i=e,this.emit(\"change\",s))},n)}}i.env.IS_TEST_MODE&&(u.Controllers=c,u.purge=function(){h.clear()}),e.exports=u}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./evshield\":91,\"./fn\":93,\"./mixins/withinable\":114,\"./sip\":127,_process:158}],112:[function(t,e,i){const r=t(\"events\"),n=t(\"./emitter\");class s{constructor(t){const e=this.type;let i=[];if(this.length=0,Array.isArray(t))i=t;else if(Array.isArray(t.pins)){const e=Object.keys(t).filter(t=>\"pins\"!==t);i=t.pins.map(i=>{const r={};return Array.isArray(i)?r.pins=i:r.pin=i,e.reduce((e,i)=>(e[i]=t[i],e),r)})}if(i.length)for(;i.length;){let t=i.shift();\"function\"==typeof e&&(t instanceof e||t instanceof this.constructor||(t=new e(t))),this.add(t)}}slice(){return new this.constructor([].slice.apply(this,arguments))}}s.prototype[Symbol.iterator]=Array.prototype[Symbol.iterator],s.prototype.add=function(...t){let e=this.length;1===t.length&&t[0]instanceof this.constructor&&(t=t[0]);for(let i=0;i{const{skip:r=[]}=i,n=\"apply|arguments|bind|call|caller|constructor|domain|length|name|prototype|toString\".split(\"|\");return Object.getOwnPropertyNames(e).reduce((t,e)=>(r.includes(e)||n.includes(e)||(t[e]=function(...t){const i=this.length;for(let r=0;r{};s.installCallbackReconciliation=(t,e)=>{e.forEach(e=>{t[e]=function(t,i){const r=this.length,n=[];\"function\"==typeof t&&(i=t,t=1e3),\"function\"!=typeof i&&(i=o);for(let i=0;ithis[i][e](t,()=>r())));return Promise.all(n).then(i),this}})},s.Emitter=class extends s{constructor(t){super(t);let e=null,i=5;Array.isArray(t)||\"object\"!=typeof t||null===t||(i=t.freq||t.period||i,t.frequency&&(i=1/t.frequency*1e3)),Object.defineProperties(this,{period:{get:()=>i,set(t){i!==t&&(i=t),e&&clearInterval(e),e=setInterval(()=>{this.emit(\"data\",this)},i)}}}),this.period=i,this.on(\"newListener\",t=>{\"change\"!==t&&\"data\"!==t&&this.forEach(e=>{e.on(t,i=>this.emit(t,e,i))})})}add(...t){return t.length&&(super.add(...t),t.forEach(t=>{t&&t.on(\"change\",()=>this.emit(\"change\",t))})),this.length}},Object.assign(s.Emitter.prototype,r.prototype,n.prototype),s.prototype[Symbol.iterator]=Array.prototype[Symbol.iterator],e.exports=s},{\"./emitter\":113,events:48}],113:[function(t,e,i){const r=t(\"events\"),n=new WeakMap;class s extends r{pause(){n.set(this,{...this._events}),this._events={__proto__:null}}resume(){const t=n.get(this);t&&(this._events={__proto__:null,...t},n.set(this,null))}}Object.assign(s.prototype,r.prototype),e.exports=s},{events:48}],114:[function(t,e,i){const r=t(\"./emitter\");e.exports=class extends r{constructor(){super()}within(t,e,i){let r;if(\"number\"==typeof t&&(r=t,t=[0,r]),!Array.isArray(t))throw new Error(\"within expected a range array\");return\"function\"==typeof e&&(i=e,e=\"value\"),void 0===this[e]||this.on(\"data\",()=>{const r=this[e];r>=t[0]&&r<=t[1]&&i.call(this,null,r)}),this}}},{\"./emitter\":113}],115:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/collection\"),s=t(\"./mixins/emitter\"),o=new Map;const a={value:function({pin:t},e){const i=o.get(this);this.io.pinMode(t,this.io.MODES.ANALOG),setTimeout(()=>{i.isCalibrated=!0,this.emit(\"calibrated\")},10),this.io.analogRead(t,e)}},l={PIR:{initialize:{value(t,e){const i=o.get(this),r=void 0!==t.calibrationDelay?t.calibrationDelay:2e3;this.io.pinMode(t.pin,this.io.MODES.INPUT),setTimeout(()=>{i.isCalibrated=!0,this.emit(\"calibrated\")},r),this.io.digitalRead(t.pin,e)}},toBoolean:{value:t=>!!t}},GP2Y0D805Z0F:{ADDRESSES:{value:[38]},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\"),n=r.addressResolver(this,e),s=o.get(this);setTimeout(()=>{s.isCalibrated=!0,this.emit(\"calibrated\")},10),this.io.i2cConfig(e),this.io.i2cWriteReg(n,3,254),this.io.i2cWrite(n,[0]),this.io.i2cRead(n,1,t=>{i(2&t[0])})}},toBoolean:{value:t=>0===t}},GP2Y0D810Z0F:{initialize:a,toBoolean:{value:t=>!(t>>9)}},GP2Y0A60SZLF:{initialize:a,toBoolean:{value:t=>t>>9==1}}};l.GP2Y0D815Z0F=l.GP2Y0D810Z0F,l[\"HC-SR501\"]=l.PIR,l.HCSR501=l.PIR,l[\"0D805\"]=l.GP2Y0D805Z0F,l[805]=l.GP2Y0D805Z0F,l[\"0D810\"]=l.GP2Y0D810Z0F,l[810]=l.GP2Y0D810Z0F,l[\"0D815\"]=l.GP2Y0D815Z0F,l[815]=l.GP2Y0D815Z0F,l[\"0A60SZLF\"]=l.GP2Y0A60SZLF,l[\"60SZLF\"]=l.GP2Y0A60SZLF,l.DEFAULT=l.PIR;class h extends s{constructor(t){super(),r.Component.call(this,t=r.Options(t)),r.Controller.call(this,l,t);let e=!1;const i=t.freq||25,n={value:!1,isCalibrated:!1};o.set(this,n),Object.defineProperties(this,{detectedMotion:{get(){return this.toBoolean(n.value)}},isCalibrated:{get:()=>n.isCalibrated}}),\"function\"==typeof this.initialize&&this.initialize(t,t=>n.value=t),setInterval(()=>{let t=!1;const i={timestamp:Date.now(),detectedMotion:this.detectedMotion,isCalibrated:n.isCalibrated};n.isCalibrated&&this.detectedMotion&&!e&&this.emit(\"motionstart\",i),n.isCalibrated&&!this.detectedMotion&&e&&this.emit(\"motionend\",i),e!==this.detectedMotion&&(t=!0),this.emit(\"data\",i),t&&this.emit(\"change\",i),e=this.detectedMotion},i)}}h.Collection=class extends n.Emitter{constructor(t){super(t)}get type(){return h}},n.installMethodForwarding(h.Collection.prototype,h.prototype),i.env.IS_TEST_MODE&&(h.Controllers=l,h.purge=()=>{o.clear()}),e.exports=h}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./mixins/collection\":112,\"./mixins/emitter\":113,\"./sip\":127,_process:158}],116:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/collection\"),s=t(\"./mixins/emitter\"),o=t(\"./evshield\"),a=t(\"./expander.js\"),l=t(\"./fn\"),h=t(\"./sensor\"),c=t(\"./shiftregister\"),u=new Map,d=new Map;function p(t){return[\"clock\",\"data\",\"latch\"].reduce((e,i)=>`${e}.${t[i]}`,\"\")}function f(t,e,i){return i?t|=1<this.emit(t.name)),this}}},PCA9685:{initialize:{value({address:t,pwmRange:e,frequency:i}){const r=u.get(this);this.address=t||64,this.pwmRange=e||[0,4080],this.frequency=i||50,r.expander=a.get({address:this.address,controller:this.controller,bus:this.bus,pwmRange:this.pwmRange,frequency:this.frequency}),Object.keys(this.pins).forEach(t=>{this.pins[t]=r.expander.normalize(this.pins[t])})}},setPWM:{writable:!0,value(t,e){u.get(this).expander.analogWrite(t,e)}},setPin:{writable:!0,value(t,e){u.get(this).expander.digitalWrite(t,e)}}},PCA9685_Hybrid:{initialize:{value({address:t,pwmRange:e,frequency:i}){const r=u.get(this);this.address=t||64,this.pwmRange=e||[0,4080],this.frequency=i||50,r.expander=a.get({address:this.address,controller:\"PCA9685\",bus:this.bus,pwmRange:this.pwmRange,frequency:this.frequency}),this.pins.pwm=r.expander.normalize(this.pins.pwm)}},setPWM:{writable:!0,value(t,e){u.get(this).expander.analogWrite(t,e)}}},EVS_EV3:{initialize:{value(t){const e=u.get(this);e.shield=o.shieldPort(t.pin),e.ev3=new o(Object.assign(t,{io:this.io})),this.settings.pins={pwm:t.pin,dir:t.pin}}},setPWM:{value(t,e){const i=u.get(this),r=i.shield.motor===o.M1?o.SPEED_M1:o.SPEED_M2;let n=0|l.scale(e,0,255,0,100);if(0===e)i.ev3.write(i.shield,o.COMMAND,o.Motor_Reset);else{this.direction.value||(n=-n);const t=[n,0,0,o.CONTROL_SPEED|o.CONTROL_GO];i.ev3.write(i.shield,r,t)}}},setPin:{value(t,e){this.setPWM(this.pin,e)}},validatePins:{value(){if(void 0===this.settings.pin)throw new Error(\"Pin must be defined\")}}},GROVE_I2C_MOTOR_DRIVER:{REGISTER:{value:{ADDRESS:15}},COMMANDS:{value:{SET_SPEED:130,SET_PWM_FREQUENCY:132,SET_DIRECTION:170,NOOP:1}},initialize:{value(t){const e=u.get(this);let i=u.get(\"GROVE_I2C_MOTOR_DRIVER\");i||(i={direction:{A:1,B:1},speed:{A:0,B:0}},u.set(\"GROVE_I2C_MOTOR_DRIVER\",i)),e.shared=i,e.pin=t.pin.toUpperCase(),this.settings.pins={pwm:t.pin,dir:t.pin},this.address=t.address||this.REGISTER.ADDRESS,t.address=this.address,this.io.i2cConfig(t)}},setPWM:{value(t,e){const i=u.get(this),n=0|r.constrain(e,0,255);i.shared.speed[i.pin]=n,this.io.i2cWrite(this.address,[this.COMMANDS.SET_SPEED,i.shared.speed.A,i.shared.speed.B])}},setPin:{value(t,e){const i=u.get(this);i.shared.direction[i.pin]=e?1:2;const r=3&i.shared.direction.A,n=(3&i.shared.direction.B)<<2|r;this.io.i2cWrite(this.address,[this.COMMANDS.SET_DIRECTION,n,this.COMMANDS.NOOP])}},validatePins:{value(){if(void 0===this.settings.pin)throw new Error(\"Pin must be defined\")}}}};g.EVS_NXT=g.EVS_EV3;const m={NONDIRECTIONAL:{pins:{get(){return this.settings.pin?{pwm:this.settings.pin}:this.settings.pins||{}}},dir:{writable:!0,configurable:!0,value(t){return t=t||this.speed(),this}},resume:{value(){const t=this.speed();return this.speed({speed:t}),this}}},DIRECTIONAL:{pins:{get(){return Array.isArray(this.settings.pins)?{pwm:this.settings.pins[0],dir:this.settings.pins[1]}:this.settings.pins}},dir:{writable:!0,configurable:!0,value(t){return this.stop(),this.setPin(this.pins.dir,t.value),this.direction=t,i.nextTick(()=>this.emit(t.name)),this}}},CDIR:{pins:{get(){return Array.isArray(this.settings.pins)?{pwm:this.settings.pins[0],dir:this.settings.pins[1],cdir:this.settings.pins[2]}:this.settings.pins}},dir:{value(t){return this.stop(),this.direction=t,this.setPin(this.pins.cdir,1^t.value),this.setPin(this.pins.dir,t.value),i.nextTick(()=>this.emit(t.name)),this}},brake:{value(t){return this.speed({speed:0,saveSpeed:!1}),this.setPin(this.pins.dir,1,127),this.setPin(this.pins.cdir,1,128,127),this.speed({speed:255,saveSpeed:!1,braking:!0}),i.nextTick(()=>this.emit(\"brake\")),t&&this.board.wait(t,()=>this.stop()),this}}}};class y extends s{constructor(t){var e,i;super(),r.Component.call(this,t=r.Options(t)),this.settings=t,void 0===this.settings.device&&(this.settings.device=\"DIRECTIONAL\",void 0===this.settings.pins&&\"object\"!=typeof this.settings.register&&(this.settings.device=\"NONDIRECTIONAL\"),this.settings.pins&&(Array.isArray(this.settings.pins)?this.settings.device=[\"NONDIRECTIONAL\",\"DIRECTIONAL\",\"CDIR\"][this.settings.pins.length-1]:(void 0===this.settings.pins.dir?this.settings.device=\"NONDIRECTIONAL\":this.settings.device=\"DIRECTIONAL\",void 0!==this.settings.pins.cdir&&(this.settings.device=\"CDIR\")))),\"string\"==typeof this.settings.controller&&(this.settings.controller.startsWith(\"EVS\")||this.settings.controller.startsWith(\"GROVE_I2C\"))&&(this.settings.device=\"DIRECTIONAL\"),e=\"string\"==typeof this.settings.device?m[this.settings.device]:this.settings.device,this.threshold=void 0!==this.settings.threshold?this.settings.threshold:30,this.invertPWM=void 0!==this.settings.invertPWM&&this.settings.invertPWM,Object.defineProperties(this,e),this.settings.register&&(this.settings.controller=\"ShiftRegister\"),this.settings.controller&&(\"string\"==typeof this.settings.controller?g[this.settings.controller]:this.settings.controller,r.Controller.call(this,g,t)),this.settings.current&&(this.settings.current.board=this.board,this.current=new h(this.settings.current)),i={isOn:!1,currentSpeed:void 0!==this.settings.speed?this.settings.speed:128,braking:!1,enabled:!1},u.set(this,i),Object.defineProperties(this,{isOn:{get:function(){return i.isOn}},currentSpeed:{get:function(){return i.currentSpeed}},braking:{get:function(){return i.braking}},enabled:{get:function(){return i.enabled}}}),this.direction={value:1},this.initialize&&this.initialize(t),this.validatePins(),this.enable(),this.dir(this.direction)}}y.prototype.initialize=function(){this.io.pinMode(this.pins.pwm,this.io.MODES.PWM),[\"dir\",\"cdir\",\"brake\",\"enable\"].forEach(t=>{void 0!==this.pins[t]&&this.io.pinMode(this.pins[t],this.io.MODES.OUTPUT)})},y.prototype.setPin=function(t,e){this.io.digitalWrite(t,e)},y.prototype.setPWM=function(t,e){this.io.analogWrite(t,l.map(e,0,255,0,this.board.RESOLUTION.PWM))},y.prototype.speed=function(t){var e=u.get(this);return void 0===t?e.currentSpeed:(\"number\"==typeof t&&(t={speed:t}),t.speed=r.constrain(t.speed,0,255),t.saveSpeed=void 0===t.saveSpeed||t.saveSpeed,t.speed0&&i.nextTick(()=>this.emit(\"start\")),this},y.prototype.stop=function(){return this.speed({speed:0,saveSpeed:!1}),i.nextTick(()=>this.emit(\"stop\")),this},y.prototype.brake=function(t){if(void 0===this.pins.brake)\"Mock\"!==this.board.io.name&&console.log(\"Non-braking motor type\"),this.stop();else if(this.setPin(this.pins.brake,1),this.setPin(this.pins.dir,1),this.speed({speed:255,saveSpeed:!1,braking:!0}),i.nextTick(()=>this.emit(\"brake\")),t){var e=this;this.board.wait(t,function(){e.resume()})}return this},y.prototype.release=function(){return this.resume(),i.nextTick(()=>this.emit(\"release\")),this},y.prototype.resume=function(){var t=this.speed();return this.dir(this.direction),this.start(t),this},y.prototype.enable=function(){var t=u.get(this);void 0===this.pins.enable||t.enabled||(this.setPin(this.pins.enable,1),t.enabled=!0)},y.prototype.disable=function(){var t=u.get(this);void 0!==this.pins.enable&&t.enabled&&(this.setPin(this.pins.enable,0),t.enabled=!1)},y.prototype.validatePins=function(){if(void 0===this.pins.pwm)throw new Error(\"PWM pin must be defined\");if(void 0===this.pins.dir&&\"NONDIRECTIONAL\"!==this.settings.device)throw new Error(\"DIR pin must be defined\");if(\"CDIR\"===this.settings.device&&void 0===this.pins.cdir)throw new Error(\"CDIR pin must be defined for three wire motors\")},[{name:\"forward\",abbr:\"fwd\",value:1},{name:\"reverse\",abbr:\"rev\",value:0}].forEach(t=>{y.prototype[t.name]=y.prototype[t.abbr]=function(e){return this.dir(t),this.start(e),this}}),y.SHIELD_CONFIGS={ADAFRUIT_V1:{M1:{pins:{pwm:11},register:{data:8,clock:4,latch:12},bits:{a:2,b:3}},M2:{pins:{pwm:3},register:{data:8,clock:4,latch:12},bits:{a:1,b:4}},M3:{pins:{pwm:6},register:{data:8,clock:4,latch:12},bits:{a:5,b:7}},M4:{pins:{pwm:5},register:{data:8,clock:4,latch:12},bits:{a:0,b:6}}},ADAFRUIT_V2:{M1:{pins:{pwm:8,dir:9,cdir:10},address:96,controller:\"PCA9685\"},M2:{pins:{pwm:13,dir:12,cdir:11},address:96,controller:\"PCA9685\"},M3:{pins:{pwm:2,dir:3,cdir:4},address:96,controller:\"PCA9685\"},M4:{pins:{pwm:7,dir:6,cdir:5},address:96,controller:\"PCA9685\"}},SEEED_STUDIO:{A:{pins:{pwm:9,dir:8,cdir:11}},B:{pins:{pwm:10,dir:12,cdir:13}}},FREETRONICS_HBRIDGE:{A:{pins:{pwm:6,dir:4,cdir:7}},B:{pins:{pwm:5,dir:3,cdir:2}}},ARDUINO_MOTOR_SHIELD_R3_1:{A:{pins:{pwm:3,dir:12}},B:{pins:{pwm:11,dir:13}}},ARDUINO_MOTOR_SHIELD_R3_2:{A:{pins:{pwm:3,dir:12,brake:9}},B:{pins:{pwm:11,dir:13,brake:8}}},ARDUINO_MOTOR_SHIELD_R3_3:{A:{pins:{pwm:3,dir:12,brake:9,current:\"A0\"}},B:{pins:{pwm:11,dir:13,brake:8,current:\"A1\"}}},DF_ROBOT:{A:{pins:{pwm:6,dir:7}},B:{pins:{pwm:5,dir:4}}},NKC_ELECTRONICS_KIT:{A:{pins:{pwm:9,dir:12}},B:{pins:{pwm:10,dir:13}}},RUGGED_CIRCUITS:{A:{pins:{pwm:3,dir:12}},B:{pins:{pwm:11,dir:13}}},SPARKFUN_ARDUMOTO:{A:{pins:{pwm:3,dir:12}},B:{pins:{pwm:11,dir:13}}},POLOLU_DRV8835_SHIELD:{M1:{pins:{pwm:9,dir:7}},M2:{pins:{pwm:10,dir:8}}},POLOLU_VNH5019_SHIELD:{M1:{pins:{pwm:9,dir:2,cdir:4,enable:6}},M2:{pins:{pwm:10,dir:7,cdir:8,enable:12}}},MICRO_MAGICIAN_V2:{A:{pins:{pwm:6,dir:8},invertPWM:!0},B:{pins:{pwm:5,dir:7},invertPWM:!0}},SPARKFUN_LUDUS:{A:{pins:{pwm:3,dir:4,cdir:5}},B:{pins:{pwm:6,dir:7,cdir:8}}},SPARKFUN_DUAL_HBRIDGE_EDISON_BLOCK:{A:{pins:{pwm:20,dir:33,cdir:46,enable:47}},B:{pins:{pwm:14,dir:48,cdir:36,enable:47}}},PICAR_V:{A:{controller:\"PCA9685_Hybrid\",pins:{pwm:4,dir:\"GPIO17\"}},B:{controller:\"PCA9685_Hybrid\",pins:{pwm:5,dir:\"GPIO27\"}}}};class b extends n{constructor(t){super(t)}get type(){return y}}n.installMethodForwarding(b.prototype,y.prototype),y.Collection=b,i.env.IS_TEST_MODE&&(y.Controllers=g,y.purge=function(){u.clear(),d.clear()}),e.exports=y}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./evshield\":91,\"./expander.js\":92,\"./fn\":93,\"./mixins/collection\":112,\"./mixins/emitter\":113,\"./sensor\":124,\"./shiftregister\":126,_process:158}],117:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),s=new Map,o={BNO055:{initialize:{value(e,i){t(\"./sip\").Drivers.get(this.board,\"BNO055\",e).on(\"data\",t=>{i(t)})}},toScaledEuler:{value:({euler:t})=>({heading:t.heading/16,roll:t.roll/16,pitch:t.pitch/16})},toScaledQuarternion:{value:({quarternion:t})=>({w:t.w*(1/16384),x:t.x*(1/16384),y:t.y*(1/16384),z:t.z*(1/16384)})},calibration:{get(){return s.get(this).calibration}},isCalibrated:{get(){return 3==(this.calibration>>6&3)}}}};class a extends n{constructor(t){super(),r.Component.call(this,t=r.Options(t)),r.Controller.call(this,o,t);const e=t.freq||25,i={euler:{heading:0,roll:0,pitch:0},quarternion:{w:0,x:0,y:0,z:0},calibration:0};let n=null;s.set(this,i),this.toScaledQuarternion||(this.toScaledQuarternion=t.toScaledQuarternion||(t=>t)),this.toScaledEuler||(this.toScaledEuler=t.toScaledEuler||(t=>t)),\"function\"==typeof this.initialize&&this.initialize(t,t=>n=t),setInterval(()=>{if(null===n)return;let t=!1,e=!1;[\"heading\",\"roll\",\"pitch\"].forEach(e=>{i.euler[e]!==n.orientation.euler[e]&&(t=!0),i.euler[e]=n.orientation.euler[e]}),[\"w\",\"x\",\"y\",\"z\"].forEach(e=>{i.quarternion[e]!==n.orientation.quarternion[e]&&(t=!0),i.quarternion[e]=n.orientation.quarternion[e]}),n.calibration&&(i.calibration!==n.calibration&&(e=!0),i.calibration=n.calibration);const r={euler:this.euler,quarternion:this.quarternion,calibration:this.calibration};this.emit(\"data\",r),t&&this.emit(\"change\",r),e&&this.emit(\"calibration\",this.calibration)},e)}get euler(){return this.toScaledEuler(s.get(this))}get quarternion(){return this.toScaledQuarternion(s.get(this))}}i.env.IS_TEST_MODE&&(a.Controllers=o,a.purge=()=>{s.clear()}),e.exports=a}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./mixins/emitter\":113,\"./sip\":127,_process:158}],118:[function(t,e,i){const r=t(\"./board\"),n=t(\"nanotimer\"),s=1e6,o=new Map;let a=4;function l(t){return t.timer?(t.timer.clearInterval(),delete t.timer,t):t}const h={DEFAULT:{initialize:{writable:!0,value(){this.io.pinMode(this.pin,this.io.MODES.OUTPUT)}},tone:{writable:!0,value(t,e){if(isNaN(t)||isNaN(e))throw new Error(\"Piezo.tone: invalid tone or duration\");l(this),this.timer=new n;let i=1;return this.timer.setInterval(()=>{i=1===i?0:1,this.io.digitalWrite(this.pin,i),this.timer.difTime/1e6>e&&l(this)},null,`${t}u`,()=>{}),this}},noTone:{writable:!0,value(){return this.io.digitalWrite(this.pin,0),l(this)}}},I2C_BACKPACK:{ADDRESSES:{value:[10]},REGISTER:{value:{NO_TONE:0,TONE:1}},initialize:{writable:!0,value(e){const{Drivers:i}=t(\"./sip\"),r=i.addressResolver(this,e),n=o.get(this);this.io.i2cConfig(e),n.address=r}},tone:{writable:!0,value(t,e){const i=o.get(this);if(isNaN(t)||isNaN(e))throw new Error(\"Piezo.tone: invalid tone or duration\");return this.io.i2cWrite(i.address,[this.REGISTER.TONE,this.pin,t>>8&255,255&t,e>>24&255,e>>16&255,e>>8&255,255&e]),this}},noTone:{writable:!0,value(){const t=o.get(this);return this.io.i2cWrite(t.address,[this.REGISTER.NO_TONE,this.pin]),this}}}};class c{constructor(t){r.Component.call(this,t=r.Options(t)),r.Controller.call(this,h,t);const e={isPlaying:!1,timeout:null,address:null};o.set(this,e),Object.defineProperties(this,{isPlaying:{get:()=>e.isPlaying}}),\"function\"==typeof this.initialize&&this.initialize(t)}note(t,e){return this.frequency(c.Parsers.hzFromInput(t),e)}tone(t,e){return this.frequency(c.ToFrequency(t),e)}frequency(t,e){return this.tone(c.ToTone(t),e)}play(t,e){\"object\"!=typeof t&&(t={song:t}),\"string\"==typeof t.song&&(t.song=c.ToSong(t.song,t.beats)),t.song&&!Array.isArray(t.song)&&(t.song=[t.song]);const i=o.get(this),r=t.tempo||250,n=Math.round(6e4/r),s=t.song||[];let a,l=0;const h=()=>{if(l===s.length)return i.isPlaying=!1,void(\"function\"==typeof e&&e(t));const r=s[l],o=c.Parsers.hzFromInput(r),u=c.Parsers.beatFromNote(r);a=u*n,l++,null===o?this.noTone():this.frequency(o,a),i.timeout=setTimeout(h,a)};return i.isPlaying=!0,h(),this}off(){return this.noTone()}stop(){const t=o.get(this);return t.timeout&&(clearTimeout(t.timeout),t.timeout=null),this}}c.Notes={c0:16,\"c#0\":17,d0:18,\"d#0\":19,e0:21,f0:22,\"f#0\":23,g0:25,\"g#0\":26,a0:28,\"a#0\":29,b0:31,c1:33,\"c#1\":35,d1:37,\"d#1\":39,e1:41,f1:44,\"f#1\":47,g1:49,\"g#1\":52,a1:55,\"a#1\":58,b1:62,c2:65,\"c#2\":69,d2:73,\"d#2\":78,e2:82,f2:87,\"f#2\":93,g2:98,\"g#2\":104,a2:110,\"a#2\":117,b2:124,c3:131,\"c#3\":139,d3:147,\"d#3\":156,e3:165,f3:175,\"f#3\":185,g3:196,\"g#3\":208,a3:220,\"a#3\":233,b3:247,c4:262,\"c#4\":277,d4:294,\"d#4\":311,e4:330,f4:349,\"f#4\":370,g4:392,\"g#4\":415,a4:440,\"a#4\":466,b4:494,c5:523,\"c#5\":554,d5:587,\"d#5\":622,e5:659,f5:698,\"f#5\":740,g5:784,\"g#5\":831,a5:880,\"a#5\":932,b5:988,c6:1047,\"c#6\":1109,d6:1175,\"d#6\":1245,e6:1319,f6:1397,\"f#6\":1480,g6:1568,\"g#6\":1661,a6:1760,\"a#6\":1865,b6:1976,c7:2093,\"c#7\":2217,d7:2349,\"d#7\":2489,e7:2637,f7:2794,\"f#7\":2960,g7:3136,\"g#7\":3322,a7:3520,\"a#7\":3729,b7:3951,c8:4186,\"c#8\":4435,d8:4699,\"d#8\":4978,e8:5274,f8:5588,\"f#8\":5920,g8:6272,\"g#8\":6645,a8:7040,\"a#8\":7459,b8:7902},c.Frequencies=Object.keys(c.Notes).reduce((t,e)=>(t[c.Notes[e]]=e,t),{}),c.Parsers={},c.Parsers.hzFromInput=t=>{let e=t;return Array.isArray(t)&&(e=t[0]),\"number\"==typeof e&&c.Frequencies[e]||(\"string\"==typeof e&&(e=e.toLowerCase().trim(),(e.endsWith(\"#\")||1===e.length)&&(e+=a),e=c.Notes[e]||null),isNaN(e)&&(e=null)),e},c.Parsers.beatFromNote=t=>{let e=1;return Array.isArray(t)&&void 0!==t[1]&&(e=t[1]),e},c.isValidOctave=t=>\"number\"==typeof t&&t>=0&&t<=8,c.defaultOctave=t=>(c.isValidOctave(t)&&(a=t),a),c.ToFrequency=t=>{const e=2*(t/s);return Math.round(1/e)},c.ToTone=t=>{const e=1/t/2;return Math.round(e*s)},c.ToSong=(t,e=1)=>{const i=t.split(\" \"),r=[];let n,s;for(;i.length;)n=i.shift(),/^[0-9]+$/.test(n)&&(n=parseInt(n,10)),s=r[r.length-1],s&&s[0]===n?s[1]+=e:r.push([n,e]);return r},e.exports=c},{\"./board\":82,\"./sip\":127,nanotimer:155}],119:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),s=t(\"./mixins/collection\"),o=new Map,a={INPUT:0,OUTPUT:1,ANALOG:2,PWM:3,SERVO:4},l=\"low\",h=\"high\",c=\"analog\",u=\"digital\";class d extends n{constructor(t){if(super(),void 0===t||\"object\"==typeof t&&void 0===t.addr&&void 0===t.pin)throw new Error(\"Pins must have a pin number\");const e=\"object\"==typeof t?t.addr||t.pin||0:t;let i=d.isAnalog(t),n=!1;r.Component.call(this,t=r.Options(t)),t.addr=t.addr||t.pin,this.io.analogPins.includes(e)&&(i=!1,n=!0);const s=n?e:\"object\"!=typeof t?t:t.addr,a=t.type||(i?c:u),l={mode:null,last:null,value:0};o.set(this,l),Object.defineProperties(this,{type:{get:()=>a},addr:{get:()=>s},value:{get:()=>l.value},mode:{set(t){o.get(this).mode=t,this.io.pinMode(this.addr,t)},get(){return o.get(this).mode}}}),this.mode=void 0!==t.as?t.as:void 0!==t.mode?t.mode:i?2:1,this.freq=void 0!==t.freq?t.freq:20,0!==this.mode&&2!==this.mode||p(this),a===u&&Object.defineProperties(this,{isHigh:{get:()=>!!l.value},isLow:{get:()=>!l.value}})}query(t){let e=this.addr;return this.type===c&&(e=this.io.analogPins[this.addr]),this.io.queryPinState(e,()=>t(this.io.pins[e])),this}high(){const t=this.type===c?this.board.RESOLUTION.PWM:1;return d.write(this,t),this.emit(h),this}low(){return d.write(this,0),this.emit(l),this}}function p(t){const e=o.get(t);t.io[`${t.type}Read`](t.addr,t=>e.value=t),setInterval(()=>{let i,r;i=e.value?l:h,r=e.value?h:l,e.mode===a.INPUT&&(null===e.last&&(e.last=i),e.last===i&&(e.last=r,t.emit(r,e.value),t.emit(\"change\",e.value))),t.emit(\"data\",e.value)},t.freq)}Object.entries(a).forEach(([t,e])=>{Object.defineProperty(d,t,{value:e})}),d.isAnalog=t=>!(\"string\"!=typeof t||!d.isPrefixed(t,[\"I\",\"A\"]))||(\"object\"==typeof t?d.isAnalog(void 0!==t.addr?t.addr:t.pin):void 0),d.isPrefixed=(t,e)=>(t=t[0],e.reduce((e,i)=>e||i===t,!1)),d.write=(t,e)=>{o.get(t).value=e,t.mode=a.OUTPUT,t.io[`${t.type}Write`](t.addr,e),t.emit(\"write\",null,e)},d.read=(t,e)=>{let i=!1;t.type===u&&0!==t.mode&&(i=!0,t.mode=a.INPUT),t.type===c&&2!==t.mode&&(i=!0,t.mode=a.ANALOG),i&&p(t),t.on(\"data\",()=>{e.call(t,null,t.value)})},[\"read\",\"write\"].forEach(t=>{d.prototype[t]=function(e){return d[t](this,e),this}});class f extends s.Emitter{constructor(t){super(t)}get type(){return d}}s.installMethodForwarding(f.prototype,d.prototype),d.Collection=f,i.env.IS_TEST_MODE&&(d.purge=()=>{o.clear()}),e.exports=d}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./mixins/collection\":112,\"./mixins/emitter\":113,_process:158}],120:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/collection\"),s=t(\"./evshield\"),o=t(\"./fn\"),a=t(\"./mixins/withinable\"),l=r.Pins,h=o.toFixed,c=new Map;function u(t,e){this.io.pinMode(this.pin,this.io.MODES.ANALOG),this.io.analogRead(this.pin,t=>{e.call(this,t)})}const d={GP2Y0A21YK:{initialize:{value:u},toCm:{value:t=>h(12343.85*t**-1.15,2)}},GP2D120XJ00F:{initialize:{value:u},toCm:{value:t=>h(2914/(t+5)-1,2)}},GP2Y0A02YK0F:{initialize:{value:u},toCm:{value:t=>h(10650.08*t**-.935-10,2)}},GP2Y0A41SK0F:{initialize:{value:u},toCm:{value:t=>h(2076/(t-11),2)}},GP2Y0A710K0F:{initialize:{value:u},toCm:{value:t=>h(38631e4*t**-2.463343,0)}},SRF10:{ADDRESSES:{value:[112]},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\"),n=r.addressResolver(this,e);this.io.i2cConfig(e),this.io.i2cWrite(n,[1,16]),this.io.i2cWrite(n,[2,255]);const s=()=>{this.io.i2cWrite(n,[0,81]),setTimeout(()=>{this.io.i2cWrite(n,[2]),this.io.i2cReadOnce(n,2,t=>i(t[0]<<8|t[1])),s()},65)};s()}},toCm:{value:t=>t}},MB1000:{initialize:{value:u},toCm:{value:t=>h(t/2*2.54,2)}},MB1003:{initialize:{value:u},toCm:{value:t=>h(t/2,1)}},MB1230:{initialize:{value:u},toCm:{value:t=>t|0}},HCSR04:{initialize:{value(t,e){let i=t.pinValue;l.isFirmata(this)&&(\"string\"==typeof i&&i.length>1&&\"A\"===i[0]&&(i=this.io.analogPins[+i.slice(1)]),i=+i,this.io.analogPins.includes(i)&&(t.pin=i),this.pin=t.pin);const r={pin:t.pin,value:this.io.HIGH,pulseOut:5},n=()=>{this.io.pingRead(r,t=>{e(t),setTimeout(n,65)})};n()}},toCm:{value:t=>h(t/29.1/2,1)}},HCSR04I2CBACKPACK:{ADDRESSES:{value:[39]},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\"),n=r.addressResolver(this,e);this.io.i2cConfig(e),void 0===e.pin&&(this.pin=8);const s=()=>{this.io.i2cReadOnce(n,2,t=>{i((t[0]<<8)+t[1]),setTimeout(s,90)})};s()}},toCm:{value:t=>h(t/29.1/2,1)}},LIDARLITE:{ADDRESSES:{value:[98]},REGISTER:{value:{ENABLE:0,READ:143}},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\"),n=r.addressResolver(this,e);this.io.i2cConfig(e);const s=()=>{this.io.i2cWrite(n,this.REGISTER.ENABLE,4),setTimeout(()=>{this.io.i2cReadOnce(n,this.REGISTER.READ,2,t=>{i((t[0]<<8)+t[1]),s()})},20)};s()}},toCm:{value:t=>t|0}},EVS_EV3_IR:{initialize:{value(t,e){const i=c.get(this);i.shield=s.shieldPort(t.pin),i.ev3=new s(Object.assign(t,{io:this.io})),i.ev3.setup(i.shield,s.Type_EV3),i.ev3.read(i.shield,s.Proximity,s.Proximity_Bytes,t=>e(t[0]|t[1]<<8))}},toCm:{value:t=>t}},EVS_EV3_US:{initialize:{value(t,e){const i=c.get(this);i.shield=s.shieldPort(t.pin),i.ev3=new s(Object.assign(t,{io:this.io})),i.ev3.setup(i.shield,s.Type_EV3),i.ev3.read(i.shield,s.Proximity,s.Proximity_Bytes,t=>e(t[0]|t[1]<<8))}},toCm:{value:t=>t/10}}};d[\"2Y0A21\"]=d.GP2Y0A21YK,d[\"2D120X\"]=d.GP2D120XJ00F,d[\"2Y0A02\"]=d.GP2Y0A02YK0F,d[\"0A41\"]=d.GP2Y0A41SK0F,d[\"0A21\"]=d.GP2Y0A21YK,d[\"0A02\"]=d.GP2Y0A02YK0F,d[\"41SK0F\"]=d.GP2Y0A41SK0F,d[\"21YK\"]=d.GP2Y0A21YK,d[\"2YK0F\"]=d.GP2Y0A02YK0F,d.MB1010=d.MB1000,d[\"LV-MaxSonar-EZ\"]=d.MB1000,d[\"LV-MaxSonar-EZ0\"]=d.MB1000,d[\"LV-MaxSonar-EZ1\"]=d.MB1010,d[\"HRLV-MaxSonar-EZ0\"]=d.MB1003,d[\"XL-MaxSonar-EZ3\"]=d.MB1230,[\"HC-SR04\",\"SR04\",\"SRF05\",\"SRF06\",\"PARALLAXPING\",\"SEEEDPING\",\"GROVEPING\",\"PING_PULSE_IN\",\"ULTRASONIC_PING\"].forEach(t=>{d[t]=d.HCSR04}),[\"HCSR04-I2C-BACKPACK\",\"HC-SR04-I2C-BACKPACK\",\"SR04-I2C-BACKPACK\",\"SR04I2CBACKPACK\",\"PINGI2CBACKPACK\",\"PING-I2C-BACKPACK\",\"HCSR04_I2C_BACKPACK\",\"HC_SR04_I2C_BACKPACK\",\"SR04_I2C_BACKPACK\",\"SR04I2CBACKPACK\",\"PINGI2CBACKPACK\",\"PING_I2C_BACKPACK\"].forEach(t=>{d[t]=d.HCSR04I2CBACKPACK}),d[\"LIDAR-Lite\"]=d.LIDARLITE,d.DEFAULT=d.GP2Y0A21YK;class p extends a{constructor(t){super();const e=\"object\"==typeof t?t.pin:t;r.Component.call(this,t=r.Options(t)),r.Controller.call(this,d,t);const i=t.freq||25;let n=0,s=0;this.toCm||(this.toCm=t.toCm||(t=>t)),c.set(this,{}),Object.defineProperties(this,{centimeters:{get(){return this.toCm(n)}},cm:{get(){return this.centimeters}},inches:{get(){return h(.39*this.centimeters,2)}},in:{get(){return this.inches}}}),\"function\"==typeof this.initialize&&(t.pinValue=e,this.initialize(t,t=>n=t)),setInterval(()=>{if(void 0===n)return;const t={cm:this.cm,centimeters:this.centimeters,in:this.in,inches:this.inches};this.emit(\"data\",t),n!==s&&(s=n,this.emit(\"change\",t))},i)}}p.Collection=class extends n.Emitter{constructor(t){super(t)}get type(){return p}},n.installMethodForwarding(p.Collection.prototype,p.prototype),p.Controllers=Object.keys(d),i.env.IS_TEST_MODE&&(p.Controllers=d,p.purge=()=>{c.clear()}),e.exports=p}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./evshield\":91,\"./fn\":93,\"./mixins/collection\":112,\"./mixins/withinable\":114,\"./sip\":127,_process:158}],121:[function(t,e,i){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),s=t(\"./fn\"),o=t(\"./led\"),a=t(\"./sensor\"),l=1e3,h=new Map,c={DEFAULT:{initialize:{value(t){if(void 0===t.emitter)throw new Error(\"Emitter pin is required\");if(!t.pins||0===t.pins.length)throw new Error(\"Pins must be defined\");const e=h.get(this);e.emitter=new o({board:this.board,pin:t.emitter}),e.sensorStates=t.pins.map(t=>{const i=new a({board:this.board,freq:e.freq,pin:t}),r={sensor:i,rawValue:0,dataReceived:!1};return i.on(\"data\",t=>{!function(t,e,i){const r=h.get(t);e.dataReceived=!0,e.rawValue=i;const n=r.sensorStates.every(({dataReceived:t})=>t);n&&(t.emit(\"data\",t.raw),r.autoCalibrate&&u(r.calibration,t.raw),t.isCalibrated&&(t.emit(\"calibratedData\",t.values),t.emit(\"line\",t.line)),r.sensorStates.forEach(t=>{t.dataReceived=!1}))}(this,r,t)}),r})}}}};function u(t,e){e.forEach((e,i)=>{(void 0===t.min[i]||et.max[i])&&(t.max[i]=e)})}function d(t,e){return t&&t.max&&t.max.length===e.length&&t.min&&t.min.length===e.length}function p(t){return(t.sensors.length-1)*l}e.exports=class extends n{constructor(t){super(),r.Component.call(this,t=r.Options(t)),r.Controller.call(this,c,t);const{autoCalibrate:e=!1,freq:i=25}=t,n={autoCalibrate:e,freq:i,lastLine:0,isOn:!1,calibration:{min:[],max:[]}};h.set(this,n),\"function\"==typeof this.initialize&&this.initialize(t),Object.defineProperties(this,{isOn:{get:()=>n.emitter.isOn},isCalibrated:{get(){return d(this.calibration,this.sensors)}},isOnLine:{get(){const t=this.line;return t>0&&tn.sensorStates.map(({sensor:t})=>t)},calibration:{get:()=>n.calibration},raw:{get:()=>n.sensorStates.map(({rawValue:t})=>t)},values:{get(){return this.isCalibrated?(t=this).raw.map((e,i)=>s.constrain(s.scale(e,t.calibration.min[i],t.calibration.max[i],0,l),0,l)):this.raw;var t}},line:{get(){return this.isCalibrated?function(t,e){const i=h.get(t);let r=!1,n=0,s=0;if(e=!!e,t.values.forEach((t,i)=>{(t=e?l-t:t)>200&&(r=!0),t>50&&(n+=t*i*l,s+=t)}),!r){const e=p(t)+1,r=e/2;return i.lastLine{u(h.get(this).calibration,t),this.emit(\"calibrated\")}),this}calibrateUntil(t){const e=()=>{this.calibrate(),this.once(\"calibrated\",()=>{t()||e()})};return e(),this}loadCalibration(t){if(!d(t,this.sensors))throw new Error(\"Calibration data not properly set: {min: [], max: []}\");return h.get(this).calibration=t,this}}},{\"./board\":82,\"./fn\":93,\"./led\":103,\"./mixins/emitter\":113,\"./sensor\":124}],122:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/collection\"),s=r.Pins,o=new Map;class a{constructor(t){const e=\"object\"==typeof t?t.pin:t;r.Component.call(this,t=r.Options(t)),t.type=t.type||\"NO\";const i={isInverted:\"NC\"===t.type,isClosed:!1,value:null};o.set(this,i),Object.defineProperties(this,{value:{get(){return Number(this.isClosed)}},type:{get:()=>i.isInverted?\"NC\":\"NO\"},isClosed:{get:()=>i.isClosed}}),s.isFirmata(this)&&\"string\"==typeof e&&\"A\"===e[0]&&(this.pin=this.io.analogPins[+e.slice(1)],this.io.pinMode(this.pin,this.io.MODES.OUTPUT))}close(){const t=o.get(this);return this.io.digitalWrite(this.pin,t.isInverted?this.io.LOW:this.io.HIGH),t.isClosed=!0,this}open(){const t=o.get(this);return this.io.digitalWrite(this.pin,t.isInverted?this.io.HIGH:this.io.LOW),t.isClosed=!1,this}toggle(){return o.get(this).isClosed?this.open():this.close(),this}}class l extends n{constructor(t){super(t)}get type(){return a}}n.installMethodForwarding(l.prototype,a.prototype),a.Collection=l,i.env.IS_TEST_MODE&&(a.purge=()=>{o.clear()}),e.exports=a}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./mixins/collection\":112,_process:158}],123:[function(t,e,i){(function(i){(function(){const r=t(\"./mixins/emitter\"),n=t(\"repl\"),s=new Map;class o extends r{constructor(t){if(o.isActive)return o.ref;{super(),o.isActive=!0,this.context={},this.ready=!1;const e={opts:t,board:t.board};s.set(this,e),o.ref=this}}initialize(t){const e=s.get(this);i.stdin.resume(),i.stdin.setEncoding(\"utf8\");e.board.info(\"Repl\",\"Initialized\");const r=n.start({prompt:\">> \",useGlobal:!1});this.ready=!0,this.cmd=r,this.context=r.context,r.on(\"exit\",()=>{e.board.emit(\"exit\"),e.board.warn(\"Board\",\"Closing.\");const t=setTimeout(()=>{i.reallyExit()},1e3),r=setInterval(()=>{let n=!1;if(e.board.length){for(let t=0;t{s=e,\"digital\"!==t.type&&l.push(s)});const c=()=>{let e,i;if(e=null,\"digital\"===t.type)return this.emit(\"data\",s),void(o!==s&&(this.emit(\"change\",s),o=s));l.length>0&&(h.median=function(t){const e=t.sort((t,e)=>t-e),i=e.length,r=Math.floor(i/2);return i%2?e[r]:(e[r-1]+e[r])/2}(l));const r=Math.round(h.median);this.emit(\"data\",r),(h.median<=o-this.threshold||h.median>=o+this.threshold)&&(this.emit(\"change\",r),o=h.median),this.limit&&(h.median<=this.limit[0]&&(i=\"lower\"),h.median>=this.limit[1]&&(i=\"upper\"),i&&(this.emit(\"limit\",{boundary:i,value:r}),this.emit(`limit:${i}`,r))),l.length=0};Object.defineProperties(this,{raw:{get:()=>s},analog:{get(){return\"digital\"===t.type?s:null===s?0:0|n.map(this.raw,0,e,0,255)}},constrained:{get(){return\"digital\"===t.type?s:null===s?0:n.constrain(this.raw,0,255)}},boolean:{get(){const t=a.get(this);let i=t.booleanBarrier;const r=t.scale||[0,e];return null===i&&(i=r[0]+(r[1]-r[0])/2),this.value>i}},scaled:{get(){let e,i;return h.scale&&null!==s?\"digital\"===t.type?h.scale[s]:(e=n.fmap(s,this.range[0],this.range[1],h.scale[0],h.scale[1]),i=n.constrain(e,h.scale[0],h.scale[1]),i):this.constrained}},freq:{get:()=>h.freq,set(t){h.freq=t,h.intervalId&&clearInterval(h.intervalId),null!==h.freq&&(h.intervalId=setInterval(c,t))}},value:{get(){return h.scale?(this.isScaled=!0,this.scaled):s}},resolution:{get:()=>e}}),i.env.IS_TEST_MODE&&Object.defineProperties(this,{state:{get(){return a.get(this)}}}),h.enabled&&(this.freq=h.freq)}enable(){const t=a.get(this);return t.enabled||(this.freq=t.freq||t.previousFreq),this}disable(){const t=a.get(this);return t.enabled&&(t.enabled=!1,t.previousFreq=t.freq,this.freq=null),this}scale(t,e){return this.isScaled=!0,a.get(this).scale=Array.isArray(t)?t:[t,e],this}scaleTo(t,e){const i=Array.isArray(t)?t:[t,e];return n.map(this.raw,0,this.resolution,i[0],i[1])}fscaleTo(t,e){const i=Array.isArray(t)?t:[t,e];return n.fmap(this.raw,0,this.resolution,i[0],i[1])}booleanAt(t){return a.get(this).booleanBarrier=t,this}}class h extends s.Emitter{constructor(t){super(t)}get type(){return l}}s.installMethodForwarding(h.prototype,l.prototype),l.Collection=h,i.env.IS_TEST_MODE&&(l.purge=()=>{a.clear()}),e.exports=l}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./fn\":93,\"./mixins/collection\":112,\"./mixins/withinable\":114,_process:158}],125:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=r.Pins,s=t(\"./expander\"),o=t(\"./mixins/collection\"),a=t(\"./mixins/emitter\"),l=t(\"./fn\"),h=t(\"./animation\"),c=new Map,u={PCA9685:{initialize:{value({address:t,pwmRange:e,frequency:i,pin:r}){const n=c.get(this);this.address=t||64,this.pwmRange=e||[450,1850],this.frequency=i||50,n.expander=s.get({address:this.address,controller:this.controller,bus:this.bus,pwmRange:this.pwmRange,frequency:this.frequency}),this.pin=n.expander.normalize(r)}},update:{writable:!0,value(t){c.get(this).expander.servoWrite(this.pin,t)}}},Standard:{initialize:{value({debug:t,pwmRange:e}){t&&!this.board.pins.isServo(this.pin)&&r.Pins.Error({pin:this.pin,type:\"PWM\",via:\"Servo\"}),Array.isArray(e)?this.io.servoConfig(this.pin,e[0],e[1]):this.io.pinMode(this.pin,this.mode)}},update:{writable:!0,value(t){if(this.last&&this.last.degrees===t)return this;let e=l.map(t,this.degreeRange[0],this.degreeRange[1],this.pwmRange[0],this.pwmRange[1]);e|=0,this.io.servoWrite(this.pin,e)}}}};u.DEFAULT=u.Standard;class d extends a{constructor(t){super();const e=[];let i=\"object\"==typeof t?t.pin:t;r.Component.call(this,t=r.Options(t)),this.degreeRange=t.degreeRange||[0,180],this.pwmRange=t.pwmRange||[600,2400],this.range=t.range||this.degreeRange,this.deadband=t.deadband||[90,90],this.fps=t.fps||100,this.offset=t.offset||0,this.range=t.range||[0-this.offset,180-this.offset],this.mode=this.io.MODES.SERVO,this.interval=null,this.value=null,this.type=t.type||\"standard\",t.isInverted&&console.warn(\"The 'isInverted' property has been renamed 'invert'\"),this.invert=t.isInverted||t.invert||!1,void 0===t.controller&&n.isFirmata(this)&&(\"string\"==typeof i&&i.length>1&&\"A\"===i[0]&&(i=this.io.analogPins[+i.slice(1)]),i=+i,Number.isNaN(i)||this.pin===i||(this.pin=i)),r.Controller.call(this,u,t),c.set(this,{history:e}),Object.defineProperties(this,{history:{get:()=>e.slice(-5)},last:{get:()=>e[e.length-1]},position:{get:()=>e.length?e[e.length-1].degrees:-1}}),this.initialize(t),void 0!==t.startAt?(this.startAt=t.startAt,this.to(t.startAt)):this.startAt=(this.degreeRange[1]-this.degreeRange[0])/2+this.degreeRange[0],t.center&&this.center(),\"continuous\"===t.type&&this.stop()}to(t,e,r){const n=c.get(this),s={};if(\"object\"==typeof t)Object.assign(s,t),s.duration=t.duration||t.interval||1e3,s.cuePoints=t.cuePoints||[0,1],s.keyFrames=t.keyFrames||[null,{value:\"number\"==typeof t.degrees?t.degrees:this.startAt}],s.oncomplete=()=>{i.nextTick(()=>{\"function\"==typeof t.oncomplete&&t.oncomplete(),this.emit(\"move:complete\")})},n.isRunning=!0,n.animation=n.animation||new h(this),n.animation.enqueue(s);else{const i=t;t=l.constrain(t,this.range[0],this.range[1]),void 0!==e?(s.duration=e,s.keyFrames=[null,{degrees:t}],s.fps=r||this.fps,this.to(s)):(this.value=t,t+=this.offset,this.invert&&(t=l.map(t,this.degreeRange[0],this.degreeRange[1],this.degreeRange[1],this.degreeRange[0])),this.update(t),n.history.length>5&&n.history.shift(),n.history.push({timestamp:Date.now(),degrees:t,target:i}))}return this}step(t,e){return this.to(this.last.target+t,e)}move(t,e){return console.warn(\"Servo.prototype.move has been renamed to Servo.prototype.to\"),this.to(t,e)}min(t,e){return this.to(this.range[0],t,e)}max(t,e){return this.to(this.range[1],t,e)}center(t,e){return this.to(Math.abs((this.range[0]+this.range[1])/2),t,e)}home(){return this.to(this.startAt)}sweep(t){const e={keyFrames:[{value:this.range[0]},{value:this.range[1]}],metronomic:!0,loop:!0,easing:\"inOutSine\"};return Array.isArray(t)?e.keyFrames=p(t):\"object\"==typeof t&&null!==t&&(Object.assign(e,t),Array.isArray(e.range)&&(e.keyFrames=p(e.range))),this.to(e)}stop(){const t=c.get(this);return t.animation&&t.animation.stop(),\"continuous\"===this.type?this.to(this.deadband.reduce((t,e)=>Math.round((t+e)/2))):clearInterval(this.interval),this}}function p(t){return t.map(t=>({value:t}))}d.prototype[h.normalize]=function(t){const e=this.last?this.last.target:this.startAt;return null===t[0]&&(t[0]={value:e}),\"number\"==typeof t[0]&&(t[0]={value:e+t[0]}),t.map(t=>(null!==t&&(\"number\"==typeof t?t={step:t}:(\"number\"==typeof t.degrees&&(t.value=t.degrees,delete t.degrees),\"number\"==typeof t.copyDegrees&&(t.copyValue=t.copyDegrees,delete t.copyDegrees)),t.easing||(t.easing=\"linear\")),t))},d.prototype[h.render]=function(t){return this.to(t[0])},[\"clockWise\",\"cw\",\"counterClockwise\",\"ccw\"].forEach(t=>{d.prototype[t]=function(e){let i;return e=void 0===e?1:e,\"continuous\"!==this.type&&this.board.error(\"Servo\",`Servo.prototype.${t} is only available for continuous servos`),i=\"cw\"===t||\"clockWise\"===t?[e,0,1,this.deadband[1]+1,this.range[1]]:[e,0,1,this.deadband[0]-1,this.range[0]],this.to(0|l.scale.apply(null,i))}}),d.Continuous=class extends d{constructor(t){const e={};\"object\"==typeof t?Object.assign(e,t):e.pin=t,e.type=\"continuous\",super(e)}};class f extends o{constructor(t){super(t)}get type(){return d}[h.normalize](t){return t.map((e,i)=>{if(null!==e&&Array.isArray(e)){let r=this[i];r instanceof f&&(r=r[0]);const n=r.last?r.last.target:r.startAt;return null===e[0]&&(e[0]={value:n}),Array.isArray(e)&&null===e[0]&&(t[i][0]={value:n}),this[i][h.normalize](e)}return e&&\"number\"==typeof e.degrees&&(e.value=e.degrees,delete e.degrees),e})}[h.render](t){return this.each((e,i)=>e.to(t[i]))}}o.installMethodForwarding(f.prototype,d.prototype,{skip:[h.normalize,h.render]}),d.Collection=f,i.env.IS_TEST_MODE&&(d.Controllers=u,d.purge=()=>{c.clear()}),e.exports=d}).call(this)}).call(this,t(\"_process\"))},{\"./animation\":80,\"./board\":82,\"./expander\":92,\"./fn\":93,\"./mixins/collection\":112,\"./mixins/emitter\":113,_process:158}],126:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/collection\"),s=new Map,o={cathode:[63,6,91,79,102,109,125,7,127,103],anode:[64,121,36,48,25,18,2,120,0,24]};class a{constructor(t){if(!(this instanceof a))return new a(t);Array.isArray(t)?t={pins:{data:t[0],clock:t[1],latch:t[2],reset:4===t.length?t[3]:null}}:\"object\"==typeof t.pins&&Array.isArray(t.pins)&&(t.pins={data:t.pins[0],clock:t.pins[1],latch:t.pins[2],reset:4===t.pins.length?t.pins[3]:null}),r.Component.call(this,t=r.Options(t)),this.size=t.size||1,this.pins.reset=void 0!==t.pins.reset?t.pins.reset:null;const e=void 0!==t.isAnode&&t.isAnode,i=e?255:0,n={isAnode:e,value:new Array(this.size).fill(i),encoded:o[e?\"anode\":\"cathode\"],clear:i};s.set(this,n),Object.defineProperties(this,{isAnode:{get:()=>e},value:{get:()=>n.value}})}display(t){const e=s.get(this);let i;if(\"number\"==typeof t)return this.display(String(t));if(\"string\"==typeof t){const r=t.match(/([0-9]{1}\\.*)/g);r&&r.length&&(i=r.map(t=>1===t.length?128|e.encoded[t]:e.encoded[t[0]]))}return this.send(i),e.value=i,this}send(t){const e=s.get(this);let i=Array.from(arguments);return 1===i.length&&(i=[t]),Array.isArray(t)&&(i=t),this.io.digitalWrite(this.pins.latch,this.io.LOW),i.forEach(function(t){if(\"string\"==typeof t&&(t=t.charCodeAt(0)),this.isAnode&&255!==t&&!e.encoded.includes(t)&&!e.encoded.includes(-129&t)){const e=o.anode.findIndex(e=>e===t);-1!==e&&(t=o.cathode[e])}this.board.shiftOut(this.pins.data,this.pins.clock,!0,t)},this),this.io.digitalWrite(this.pins.latch,this.io.HIGH),e.value=i,this}clear(){const t=s.get(this);return this.send(Array(this.size).fill(t.clear))}reset(){if(null===this.pins.reset)throw new Error(\"ShiftRegister was not initialized with a reset pin\");return this.io.digitalWrite(this.pins.clock,this.io.LOW),this.io.digitalWrite(this.pins.reset,this.io.LOW),this.io.digitalWrite(this.pins.clock,this.io.HIGH),this.io.digitalWrite(this.pins.reset,this.io.HIGH),this}}class l extends n{constructor(t){super(t)}get type(){return a}}n.installMethodForwarding(l.prototype,a.prototype),n.installMethodForwarding(l.prototype,a.prototype),a.Collection=l,i.env.IS_TEST_MODE&&(a.purge=()=>{s.clear()}),e.exports=a}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./mixins/collection\":112,_process:158}],127:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"./mixins/emitter\"),s=t(\"./fn\"),o=new Map,a=new Map,{int16:l,uint16:h,uint24:c,s32:u,u32:d}=s,p=\"accelerometer\",f=\"altimeter\",g=\"barometer\",m=\"gyro\",y=\"hygrometer\",b=\"magnetometer\",E=\"thermometer\";function v(t,e){const i=o.get(this),r=Object.create(null);for(const n of this.components)i[n]=new v[n](Object.assign({controller:e.controller||t,freq:e.freq,board:this.board},e)),r[n]={get:()=>i[n]},R[n]&&(r[R[n]]=r[n]);Object.defineProperties(this,r)}v.accelerometer=t(\"./accelerometer\"),v.altimeter=t(\"./altimeter\"),v.barometer=t(\"./barometer\"),v.gyro=t(\"./gyro\"),v.hygrometer=t(\"./hygrometer\"),v.magnetometer=t(\"./compass\"),v.orientation=t(\"./orientation\"),v.thermometer=t(\"./thermometer\");const R={thermometer:\"temperature\"},S={SHT31D:{ADDRESSES:{value:[68]},REGISTER:{value:{SOFT_RESET:12450,MEASURE_HIGH_REPEATABILITY:9216}},initialize:{value(t,e){const i=t.io,r=S.addressResolver(this,e);i.i2cConfig(e),i.i2cWrite(r,[this.REGISTER.SOFT_RESET>>8,255&this.REGISTER.SOFT_RESET]);const n={temperature:null,humidity:null},s=()=>{i.i2cWrite(r,[this.REGISTER.MEASURE_HIGH_REPEATABILITY>>8,255&this.REGISTER.MEASURE_HIGH_REPEATABILITY]),setTimeout(()=>{i.i2cReadOnce(r,6,t=>{n.temperature=h(t[0],t[1]),n.humidity=h(t[3],t[4]),this.emit(\"data\",n),s()})},16)};s()}},identifier:{value:t=>`sht-31d-${S.addressResolver(S.SHT31D,t)}`}},HTU21D:{ADDRESSES:{value:[64]},REGISTER:{value:{HUMIDITY:229,TEMPERATURE:227,SOFT_RESET:254}},initialize:{value(t,e){const i=t.io,r=S.addressResolver(this,e);e.delay=5e4,i.i2cConfig(e),i.i2cWrite(r,this.REGISTER.SOFT_RESET);const n={temperature:null,humidity:null};let s=0;const o=()=>{const t=0===s,e=t?this.REGISTER.TEMPERATURE:this.REGISTER.HUMIDITY;i.i2cReadOnce(r,e,2,e=>{t?n.temperature=h(e[0],e[1]):n.humidity=h(e[0],e[1]),2===++s&&(s=0,this.emit(\"data\",n)),o()})};o()}},identifier:{value:t=>`htu-s1d-${S.addressResolver(S.HTU21D,t)}`}},HIH6130:{ADDRESSES:{value:[39]},initialize:{value(t,e){const i=t.io,r=S.addressResolver(this,e);i.i2cConfig(e);const n={humidity:null,temperature:null};let s=36.65;const o=()=>{i.i2cWrite(r,160,[0,0]),setTimeout(()=>{i.i2cWrite(r,128,[0,0]),i.i2cReadOnce(r,4,t=>{const e=t[0]>>6;n.humidity=l(63&t[0],t[1]),n.temperature=l(t[2],t[3]>>2),0===e&&s--,1===e&&s++,this.emit(\"data\",n),o()})},s)};o()}},identifier:{value:t=>`hih6130-${S.addressResolver(S.HIH6130,t)}`}},DHT_I2C_NANO_BACKPACK:{ADDRESSES:{value:[10]},REGISTER:{value:{READ:0}},initialize:{value(t,e){const i=t.io;let r=11;const n=S.addressResolver(this,e);i.i2cConfig(e);const s=/(\\d{2})/.exec(e.controller),o=s&&s.length&&s[0];o&&(r=+o,Number.isNaN(r)&&(r=11));const a={temperature:null,humidity:null};i.i2cWrite(n,[2,r]),i.i2cRead(n,4,t=>{a.humidity=l(t[0],t[1]),a.temperature=l(t[2],t[3]),this.emit(\"data\",a)})}},identifier:{value:t=>`dht_i2c_nano_backpack-${S.addressResolver(S.DHT_I2C_NANO_BACKPACK,t)}`}},MPU6050:{ADDRESSES:{value:[104,105]},REGISTER:{value:{SETUP:[107,0],READ:59}},initialize:{value(t,e){const i=t.io,r=S.addressResolver(this,e),n={accelerometer:{},temperature:{},gyro:{}};i.i2cConfig(e),i.i2cWrite(r,this.REGISTER.SETUP),i.i2cRead(r,this.REGISTER.READ,14,t=>{n.accelerometer={x:l(t[0],t[1]),y:l(t[2],t[3]),z:l(t[4],t[5])},n.temperature=l(t[6],t[7]),n.gyro={x:l(t[8],t[9]),y:l(t[10],t[11]),z:l(t[12],t[13])},this.emit(\"data\",n)})}},identifier:{value:t=>`mpu-6050-${S.addressResolver(S.MPU6050,t)}`}},BNO055:{ADDRESSES:{value:[40,41]},REGISTER:{value:{READ:{ACCEL:8,MAG:14,GYRO:20,EULER:26,QUARTERNION:32,TEMP:52},LENGTH:{ACCEL:6,MAG:6,GYRO:6,EULER:6,QUARTERNION:8,TEMP:1},OPR_MODE_ADDR:61,OPR_MODES:{CONFIG:0,ACCONLY:1,MAGONLY:2,GYRONLY:3,ACCMAG:4,ACCGYRO:5,MAGGYRO:6,AMG:7,IMUPLUS:8,COMPASS:9,M4G:10,NDOF_FMC_OFF:11,NDOF:12},PWR_MODE_ADDR:62,PWR_MODES:{NORMAL:0,LOW:1,SUSPEND:2},PAGE_ID_ADDR:7,PAGE_STATES:{ZERO:0},CALIBRATION:53,SYS_TRIGGER:63,UNIT_SEL_ADDR:59,AXIS_MAP_CONFIG_ADDR:65,AXIS_MAP_SIGN_ADDR:66}},initialize:{value(t,e){const i=t.io,r=e.calibrationMask||192,n=S.addressResolver(this,e),s={accelerometer:{x:null,y:null,z:null},gyro:{x:null,y:null,z:null},magnetometer:{x:null,y:null,z:null},orientation:{euler:{heading:null,roll:null,pitch:null},quarternion:{w:null,x:null,y:null,z:null}},temperature:null,calibration:null};i.i2cConfig(e),i.i2cWriteReg(n,this.REGISTER.OPR_MODE_ADDR,this.REGISTER.OPR_MODES.CONFIG),i.i2cWriteReg(n,this.REGISTER.PAGE_ID_ADDR,this.REGISTER.PAGE_STATES.ZERO),i.i2cWriteReg(n,this.REGISTER.SYS_TRIGGER,32);new Promise(t=>{setTimeout(()=>{i.i2cWriteReg(n,this.REGISTER.PWR_MODE_ADDR,this.REGISTER.PWR_MODES.NORMAL),i.i2cWriteReg(n,this.REGISTER.SYS_TRIGGER,e.enableExternalCrystal?128:0);const r=e.axisMap||36;i.i2cWriteReg(n,this.REGISTER.AXIS_MAP_CONFIG_ADDR,r);const s=e.axisSign||0;i.i2cWriteReg(n,this.REGISTER.AXIS_MAP_SIGN_ADDR,s),setTimeout(()=>{i.i2cWriteReg(n,this.REGISTER.OPR_MODE_ADDR,this.REGISTER.OPR_MODES.NDOF),t()},10)},650)}).then(()=>new Promise(t=>{const e=()=>{i.i2cReadOnce(n,this.REGISTER.CALIBRATION,1,i=>{const n=i[0],o=s.calibration!==n;s.calibration=n,o&&this.emit(\"calibration\",s.calibration),(n&r)===r?(this.emit(\"calibrated\"),t()):e()})};e()})).then(()=>{i.i2cRead(n,this.REGISTER.READ.TEMP,2,t=>{s.temperature=t[0];const e=s.calibration!==t[1];s.calibration=t[1],this.emit(\"data\",s),e&&this.emit(\"calibration\",s.calibration)}),i.i2cRead(n,this.REGISTER.READ.ACCEL,18,t=>{s.accelerometer={x:l(t[1],t[0]),y:l(t[3],t[2]),z:l(t[5],t[4])},s.magnetometer={x:l(t[7],t[6]),y:l(t[9],t[8]),z:l(t[11],t[10])},s.gyro={x:l(t[13],t[12]),y:l(t[15],t[14]),z:l(t[17],t[16])},this.emit(\"data\",s)}),i.i2cRead(n,this.REGISTER.READ.EULER,14,t=>{s.orientation.euler={heading:l(t[1],t[0]),roll:l(t[3],t[2]),pitch:l(t[5],t[4])},s.orientation.quarternion={w:l(t[7],t[6]),x:l(t[9],t[8]),y:l(t[11],t[10]),z:l(t[13],t[12])},this.emit(\"data\",s)})})}},identifier:{value:t=>`bno055-${S.addressResolver(S.BNO055,t)}`}},MPL115A2:{ADDRESSES:{value:[96]},REGISTER:{value:{COEFFICIENTS:4,PADC_MSB:0,CONVERT:18}},initialize:{value(t,e){const i=t.io,r=S.addressResolver(this,e);i.i2cConfig(e);const n={pressure:null,temperature:null},s={a0:null,b1:null,b2:null,c12:null},o=t=>{const e=h(t[0],t[1])>>6,i=h(t[2],t[3])>>6;n.pressure=s.a0+(s.b1+s.c12*i)*e+s.b2*i,n.temperature=i,this.emit(\"data\",n),a()};var a=()=>{i.i2cWriteReg(r,this.REGISTER.CONVERT,0),i.i2cReadOnce(r,this.REGISTER.PADC_MSB,4,o)};new Promise(t=>{i.i2cReadOnce(r,this.REGISTER.COEFFICIENTS,8,e=>{const i=l(e[0],e[1]),r=l(e[2],e[3]),n=l(e[4],e[5]),o=l(e[6],e[7])>>2;s.a0=i/8,s.b1=r/8192,s.b2=n/16384,s.c12=o/4194304,t()})}).then(a)}},identifier:{value:t=>`mpl115a2-${S.addressResolver(S.MPL115A2,t)}`}},MPL3115A2:{ADDRESSES:{value:[96]},REGISTER:{value:{STATUS:0,PRESSURE:1,CONFIG:19,BAR_IN_MSB:20,BAR_IN_LSB:21,CONTROL:38}},MASK:{value:{STATUS:{PRESSURE_DATA_READ:4},CONTROL:{SBYB:1,OS128:56,ALTIMETER:128,PRESSURE:0},CONFIG:{TDEFE:1,PDEFE:2,DREM:4}}},initialize:{value(t,e){const i=t.io;let r=!1,n=null,s=0;const o=S.addressResolver(this,e);let a=0;const l={pressure:0,altitude:0,temperature:0};void 0!==e.elevation&&(n=e.elevation),null!==n&&n<=0&&(s=Math.abs(n)+1,n=1);const u=t=>{i.i2cReadOnce(o,this.REGISTER.STATUS,1,e=>{e[0]&this.MASK.STATUS.PRESSURE_DATA_READ?t():setTimeout(()=>{u(t)},100)})},d=()=>{const t=r?this.MASK.CONTROL.PRESSURE:this.MASK.CONTROL.ALTIMETER,e=this.MASK.CONTROL.SBYB|this.MASK.CONTROL.OS128|t;i.i2cWrite(o,this.REGISTER.CONTROL,e),u(()=>{i.i2cReadOnce(o,this.REGISTER.PRESSURE,6,t=>{const e=c(t[1],t[2],t[3])>>4,i=h(t[4],t[5])>>4;let n;if(l.temperature=i,r)l.pressure=e,this.emit(\"data\",l);else{n=(t[1]<<8|t[2])+(t[3]>>4)/16,a=(3*a+n)/4,l.altitude=a-s}r=!r,d()})})},p=[],f=()=>{i.i2cWrite(o,this.REGISTER.CONTROL,59),i.i2cWrite(o,this.REGISTER.CONTROL,57),setTimeout(()=>{i.i2cReadOnce(o,this.REGISTER.PRESSURE,6,t=>{const e=t[1],r=t[2],s=(t[3]>>4)/4;if(p.push((e<<10|r<<2)+s),4===p.length){const t=(p[0]+p[1]+p[2]+p[3])/4/(1-225577e-10*n)**5.255;i.i2cWrite(o,this.REGISTER.BAR_IN_MSB,t/2>>8),i.i2cWrite(o,this.REGISTER.BAR_IN_LSB,t/2&255),i.i2cWrite(o,this.REGISTER.CONTROL,187),i.i2cWrite(o,this.REGISTER.CONTROL,185),setTimeout(()=>{i.i2cReadOnce(o,this.REGISTER.PRESSURE,6,t=>{const e=t[1],i=t[2],r=t[3];a=(e<<8|i)+(r>>4)/16,d(!1)})},550)}else f()})},500)};i.i2cConfig(Object.assign(e,{settings:{stopTX:!0}})),i.i2cWriteReg(o,45,0),i.i2cWriteReg(o,this.REGISTER.BAR_IN_MSB,0),i.i2cWriteReg(o,this.REGISTER.BAR_IN_LSB,0),i.i2cWriteReg(o,this.REGISTER.CONFIG,this.MASK.CONFIG.TDEFE|this.MASK.CONFIG.PDEFE|this.MASK.CONFIG.DREM),null!==n?f():d()}},identifier:{value:t=>`mpl3115a2-${S.addressResolver(S.MPL3115A2,t)}`}},BMP180:{ADDRESSES:{value:[119]},REGISTER:{value:{COEFFICIENTS:170,READ:0,READ_START:244,READ_RESULT:246}},initialize:{value(t,e){const i=t.io;let r=null,n=0;void 0!==e.elevation&&(r=e.elevation),(null!=r&&r<=0||null==r)&&(n=Math.abs(r)+1,r=1);const o=S.addressResolver(this,e),a=e.mode||3,u=[5,8,14,26][a],d=s.constrain(a,0,3),p={a1:null,a2:null,a3:null,a4:null,a5:null,a6:null,b1:null,b2:null,b5:null,mb:null,mc:null,md:null};i.i2cConfig(e);new Promise(t=>{i.i2cReadOnce(o,this.REGISTER.COEFFICIENTS,22,e=>{p.a1=l(e[0],e[1]),p.a2=l(e[2],e[3]),p.a3=l(e[4],e[5]),p.a4=h(e[6],e[7]),p.a5=h(e[8],e[9]),p.a6=h(e[10],e[11]),p.b1=l(e[12],e[13]),p.b2=l(e[14],e[15]),p.mb=l(e[16],e[17]),p.mc=l(e[18],e[19]),p.md=l(e[20],e[21]),t()})}).then(()=>{const t={altitude:null,pressure:null,temperature:null};let e=0;const a=()=>{const h=0===e,f=h?46:52+(d<<6),g=h?2:3,m=h?5:u;i.i2cWriteReg(o,this.REGISTER.READ_START,f),setTimeout(()=>{i.i2cReadOnce(o,this.REGISTER.READ_RESULT,g,i=>{let o,u,f,g,m,y,b,E,v,R,S;if(h)u=l(i[0],i[1]),f=(u-p.a6)*p.a5>>15,g=(p.mc<<11)/(f+p.md)|0,p.b5=f+g|0,t.temperature=(p.b5+8>>4)/10;else{u=c(i[0],i[1],i[2])>>8-d,E=p.b5-4e3,R=E*E,S=R>>12,f=p.b2*S>>11,g=p.a2*E>>11,m=f+g,y=(2+(4*p.a1+m<>13,g=p.b1*S>>16,m=f+g+2>>2,b=p.a4*(m+32768)>>15,v=(u-y)*(5e4>>d),o=v>=0,f=(o>>8)*(o>>8),f=3038*f>>16,g=-7357*o>>16,o+=f+g+3791>>4,t.pressure=o;const e=44330*(1-o/(o/(1-225577e-10*r)**5.255)**(1/5.255));t.altitude=Math.round(e-n)}2===++e&&(e=0,this.emit(\"data\",t)),a()})},m)};a()})}},identifier:{value:t=>`bmp180-${S.addressResolver(S.BMP180,t)}`}},BMP280:{ADDRESSES:{value:[119]},REGISTER:{value:{COEFFICIENTS:136,CONFIG:245,MEASURE:244,PRESSURE:247,TEMPERATURE:250,RESET:224}},initialize:{value(t,e){const i=t.io;let r=null,n=0;void 0!==e.elevation&&(r=e.elevation),(null!=r&&r<=0||null==r)&&(n=Math.abs(r)+1,r=1);const o=S.addressResolver(this,e),a={T1:null,T2:null,T3:null,P1:null,P2:null,P3:null,P4:null,P5:null,P6:null,P7:null,P8:null,P9:null};i.i2cConfig(e),i.i2cWrite(o,this.REGISTER.RESET,182);new Promise(t=>{i.i2cReadOnce(o,this.REGISTER.COEFFICIENTS,24,e=>{a.T1=h(e[1],e[0]),a.T2=l(e[3],e[2]),a.T3=l(e[5],e[4]),a.P1=h(e[7],e[6]),a.P2=l(e[9],e[8]),a.P3=l(e[11],e[10]),a.P4=l(e[13],e[12]),a.P5=l(e[15],e[14]),a.P6=l(e[17],e[16]),a.P7=l(e[19],e[18]),a.P8=l(e[21],e[20]),a.P9=l(e[23],e[22]),t()})}).then(()=>{i.i2cWrite(o,this.REGISTER.MEASURE,63);const t={altitude:null,pressure:null,temperature:null};i.i2cRead(o,this.REGISTER.PRESSURE,6,e=>{let i,o,l,h=0,p=u(c(e[0],e[1],e[2])),f=u(c(e[3],e[4],e[5]));p>>=4,f>>=4;const g=(f>>4)-a.T1;if(o=((f>>3)-(a.T1<<1))*a.T2>>11,l=(g*g>>12)*a.T3>>14,i=o+l,t.temperature=(5*i+128>>8)/100,o=void 0,l=void 0,o=u(i>>1)-64e3,l=((o>>2)*(o>>2)>>11)*u(a.P6),l+=o*u(a.P5)<<1,l=(l>>2)+(u(a.P4)<<16),o=(a.P3*((o>>2)*(o>>2)>>13)>>3)+(u(a.P2)*o>>1)>>18,o=(s.POW_2_15+o)*u(a.P1)>>15,0===o)return 0;h=3125*d(u(s.POW_2_20)-p-(l>>12)),h=h>>0)/d(o):2*(h/d(o)>>>0),h=d(h)>>>0;const m=h>>3;o=u(a.P9)*u(m*m>>13)>>12,l=u(h>>2)*u(a.P8)>>13,h=d(u(h)+(o+l+a.P7>>4)),t.pressure=h;const y=44330*(1-h/(h/(1-225577e-10*r)**5.255)**(1/5.255));t.altitude=Math.round(y-n),this.emit(\"data\",t)})})}},identifier:{value:t=>`bmp280-${S.addressResolver(S.BMP280,t)}`}},BME280:{ADDRESSES:{value:[119]},REGISTER:{value:{COEFFICIENTS_TP:136,COEFFICIENTS_H:225,CONFIG:245,MEASURE_H:242,MEASURE_TP:244,PRESSURE:247,TEMPERATURE:250,HUMIDITY:253,RESET:224}},initialize:{value(t,e){const r=t.io;let n=null,o=0;void 0!==e.elevation&&(n=e.elevation),(null!=n&&n<=0||null==n)&&(o=Math.abs(n)+1,n=1);const a=S.addressResolver(this,e),p={T1:null,T2:null,T3:null,P1:null,P2:null,P3:null,P4:null,P5:null,P6:null,P7:null,P8:null,P9:null,H1:null,H2:null,H3:null,H4:null,H5:null,H6:null};r.i2cConfig(e),r.i2cWrite(a,this.REGISTER.RESET,182);new Promise(t=>{Promise.all([new Promise(t=>{r.i2cReadOnce(a,136,24,e=>{p.T1=h(e[1],e[0]),p.T2=l(e[3],e[2]),p.T3=l(e[5],e[4]),p.P1=h(e[7],e[6]),p.P2=l(e[9],e[8]),p.P3=l(e[11],e[10]),p.P4=l(e[13],e[12]),p.P5=l(e[15],e[14]),p.P6=l(e[17],e[16]),p.P7=l(e[19],e[18]),p.P8=u(l(e[21],e[20])),p.P9=u(l(e[23],e[22])),t()})}),new Promise(t=>{r.i2cReadOnce(a,161,1,e=>{p.H1=s.u8(e[0]),t()})}),new Promise(t=>{r.i2cReadOnce(a,225,8,e=>{p.H2=u(l(e[1],e[0])),p.H3=u(e[2]),p.H4=u(e[3]<<4|15&e[4]),p.H5=u(e[5]<<4|e[4]>>4),p.H6=s.s8(e[6]),t()})})]).then(t)}).then(()=>{r.i2cWrite(a,this.REGISTER.MEASURE_H,5),r.i2cWrite(a,this.REGISTER.MEASURE_TP,183);const t={altitude:null,pressure:null,humidity:null,temperature:null},e=Date.now();r.i2cRead(a,this.REGISTER.PRESSURE,8,r=>{if(!i.env.IS_TEST_MODE&&e+1e3>Date.now())return;let a,l,f,g,m=0,y=u(c(r[0],r[1],r[2])),b=u(c(r[3],r[4],r[5]));const E=u(h(r[6],r[7]));y>>=4,b>>=4;const v=(b>>4)-p.T1;if(l=((b>>3)-(p.T1<<1))*p.T2>>11,f=(v*v>>12)*p.T3>>14,a=l+f,t.temperature=(5*a+128>>8)/100,l=void 0,f=void 0,l=u(a>>1)-64e3,f=((l>>2)*(l>>2)>>11)*u(p.P6),f+=l*u(p.P5)<<1,f=(f>>2)+(u(p.P4)<<16),l=(p.P3*((l>>2)*(l>>2)>>13)>>3)+(u(p.P2)*l>>1)>>18,l=(s.POW_2_15+l)*u(p.P1)>>15,0===l)return 0;m=3125*d(u(s.POW_2_20)-y-(f>>12)),m=m>>0)/d(l):2*(m/d(l)>>>0),m=d(m)>>>0;const R=m>>3;l=u(p.P9)*u(R*R>>13)>>12,f=u(m>>2)*p.P8>>13,m=d(u(m)+(l+f+p.P7>>4)),t.pressure=m;const S=44330*(1-m/(m/(1-225577e-10*n)**5.255)**(1/5.255));t.altitude=Math.round(S-o),g=u(a-76800),g=((E<<14)-u(p.H4<<20)-p.H5*g+s.POW_2_14>>15)*((((g*p.H6>>10)*((g*p.H3>>11)+s.POW_2_15)>>10)+s.POW_2_21)*p.H2+s.POW_2_13>>14),g-=((g>>15)*(g>>15)>>7)*u(p.H1)>>4,g=s.constrain(g,0,419430400),t.humidity=d(g>>12),this.emit(\"data\",t)})})}},identifier:{value:t=>`bme280-${S.addressResolver(S.BME280,t)}`}},SI7020:{ADDRESSES:{value:[64]},REGISTER:{value:{HUMIDITY:229,TEMPERATURE:224}},initialize:{value(t,e){const i=t.io,r=S.addressResolver(this,e);e.delay=5e4,i.i2cConfig(e);const n={temperature:null,humidity:null};i.i2cRead(r,this.REGISTER.TEMPERATURE,2,t=>{n.temperature=h(t[0],t[1]),this.emit(\"data\",n)}),i.i2cRead(r,this.REGISTER.HUMIDITY,2,t=>{n.humidity=h(t[0],t[1]),this.emit(\"data\",n)})}},identifier:{value:t=>`si7020-${S.addressResolver(S.SI7020,t)}`}},MS5611:{ADDRESSES:{value:[119]},REGISTER:{value:{COEFFICIENTS:162,READ:0,PRESSURE:64,TEMPERATURE:80,RESET:30}},initialize:{value(t,e){const i=t.io;let r=null,n=0;void 0!==e.elevation&&(r=e.elevation),(null!=r&&r<=0||null==r)&&(n=Math.abs(r)+1,r=1);const o=S.addressResolver(this,e),a={altitude:null,pressure:null,temperature:null},l=e.mode||5,u=[1,2,3,4,5,10][l],d={C1:null,C2:null,C3:null,C4:null,C5:null,C6:null},p=Object.keys(d);e.delay=1e3*u,i.i2cConfig(e),i.i2cWrite(o,this.REGISTER.RESET);new Promise(t=>{setTimeout(()=>{const e=p.map((t,e)=>{const r=this.REGISTER.COEFFICIENTS+2*e;return new Promise(e=>{i.i2cReadOnce(o,r,2,i=>{d[t]=h(i[0],i[1]),e()})})});Promise.all(e).then(t)},50)}).then(()=>{let t,e,h,p,f,g,m,y,b,E,v=0;const R=()=>{const S=0===v,w=(S?80:64)+l;i.i2cWrite(o,w),S?(e=0,h=0,p=0,y=0,b=0,E=0):(t=0,f=0,g=0,m=0),setTimeout(()=>{i.i2cReadOnce(o,this.REGISTER.READ,3,i=>{if(S)e=c(i[0],i[1],i[2]),h=e-d.C5*s.POW_2_8,p=2e3+h*d.C6/s.POW_2_23,p<2e3&&(y=h**2/s.POW_2_31,b=5*(p-2e3)**2/2,E=5*(p-2e3)**2/s.POW_2_2,p<-1500&&(b+=7*(p+1500)**2,E+=11*(p+1500)**2/2)),p-=y,a.temperature=p/100;else{t=c(i[0],i[1],i[2]),f=d.C2*s.POW_2_16+d.C4*h/s.POW_2_7,g=d.C1*s.POW_2_15+d.C3*h/s.POW_2_8,f-=b,g-=E,m=(t*g/s.POW_2_21-f)/s.POW_2_15,a.pressure=m;const e=44330*(1-m/(m/(1-225577e-10*r)**5.255)**(1/5.255));a.altitude=e-n}2===++v&&(v=0,this.emit(\"data\",a)),R()})},u)};R()})}},identifier:{value:t=>`ms5611-${S.addressResolver(S.MS5611,t)}`}},TH02:{ADDRESSES:{value:[64]},COMMAND:{value:{MEASURE_HUMIDITY:1,MEASURE_TEMPERATURE:17}},REGISTER:{value:{STATUS:0,READ:1,CONFIG:3}},initialize:{value(t,e){const i=t.io,r=S.addressResolver(this,e),n={temperature:null,humidity:null};let s=0;i.i2cConfig(Object.assign(e,{settings:{stopTX:!0}}));const o=()=>{const t=0===s,e=t?this.COMMAND.MEASURE_TEMPERATURE:this.COMMAND.MEASURE_HUMIDITY;new Promise(t=>{i.i2cWrite(r,this.REGISTER.CONFIG,e);const n=()=>{i.i2cReadOnce(r,this.REGISTER.STATUS,1,e=>{1&e[0]?n():t()})};n()}).then(()=>{Promise.all([new Promise(t=>{i.i2cReadOnce(r,1,1,e=>{t(e[0])})}),new Promise(t=>{i.i2cReadOnce(r,2,1,e=>{t(e[0])})})]).then(e=>{t?n.temperature=(h(e[0],e[1])>>2)/32-50:n.humidity=(h(e[0],e[1])>>4)/16-24,2===++s&&(s=0,this.emit(\"data\",n)),o()})})};o()}},identifier:{value:t=>`th02-${S.addressResolver(S.TH02,t)}`}},LSM303C:{ADDRESSES:{value:[29,30]},COMMAND:{value:{ACC_SETUP:[4,63,63,63],MAG_SETUP:[216,96,64,216,8,0]}},REGISTER:{value:{ACC_CTRL_SEQ:[35,32,32,32],ACC_STATUS:39,ACC_OUTX_L:40,ACC_OUTX_H:41,ACC_OUTY_L:42,ACC_OUTY_H:43,ACC_OUTZ_L:44,ACC_OUTZ_H:45,MAG_CTRL_SEQ:[32,33,36,32,35,34],MAG_STATUS:39,MAG_OUTX_L:40,MAG_OUTX_H:41,MAG_OUTY_L:42,MAG_OUTY_H:43,MAG_OUTZ_L:44,MAG_OUTZ_H:45,MAG_TEMP_OUT_L:46,MAG_TEMP_OUT_H:47}},initialize:{value(t,e){const i=.06103515625,r=.00048828125,n=t.io,s=this.freq||40,[o,a]=this.ADDRESSES,h={},c={},u={temperature:0,magnetometer:c,accelerometer:h},d=t=>{n.i2cReadOnce(o,this.REGISTER.ACC_OUTX_L,6,e=>{h.x=l(e[1],e[0])*i,h.y=l(e[3],e[2])*i,h.z=l(e[5],e[4])*i,t()})},p=t=>{n.i2cReadOnce(a,this.REGISTER.MAG_OUTX_L,6,e=>{c.x=l(e[1],e[0])*r,c.y=l(e[3],e[2])*r,c.z=l(e[5],e[4])*r,t()})},f=t=>{n.i2cReadOnce(a,this.REGISTER.MAG_TEMP_OUT_L,2,e=>{u.temperature=l(e[1],e[0]),t()})},g=()=>{Promise.all([new Promise(d),new Promise(p),new Promise(f)]).then(()=>{this.emit(\"data\",u),setTimeout(g,s)})};(()=>{n.i2cConfig(Object.assign({},e,{address:o})),this.REGISTER.ACC_CTRL_SEQ.forEach((t,e)=>{n.i2cWrite(o,t,this.COMMAND.ACC_SETUP[e])})})(),(()=>{n.i2cConfig(Object.assign({},e,{address:a})),this.REGISTER.MAG_CTRL_SEQ.forEach((t,e)=>{n.i2cWrite(a,t,this.COMMAND.MAG_SETUP[e])})})(),g()}},identifier:{value:t=>`lsm303c-${S.addressResolver(S.LSM303C,t)}`}}};S.BMP085=S.BMP180,S.GY521=S.MPU6050,S.SI7021=S.SI7020,S.DHT11_I2C_NANO_BACKPACK=S.DHT_I2C_NANO_BACKPACK,S.DHT21_I2C_NANO_BACKPACK=S.DHT_I2C_NANO_BACKPACK,S.DHT22_I2C_NANO_BACKPACK=S.DHT_I2C_NANO_BACKPACK,S.get=(t,e,i={})=>{let r,s,o;return a.has(t)||a.set(t,{}),r=a.get(t),s=S[e].identifier.value(i),r[s]||(o=new n,Object.defineProperties(o,S[e]),o.initialize(t,i),r[s]=o),r[s]},S.addressResolver=(t,e)=>{const i=t.ADDRESSES,r=e.address||(Array.isArray(i)?i[0]:i.value[0]);return e.address=r,r},S.clear=()=>{a.clear()};const w={MPU6050:{initialize:{value(t){v.call(this,\"MPU6050\",t)}},components:{value:[p,m,E]}},BNO055:{initialize:{value(t){const e=\"BNO055\";o.get(this).calibrationMask=t.calibrationMask||192,S.get(this.board,e,t).on(\"calibrated\",()=>this.emit(\"calibrated\")).on(\"calibration\",t=>this.emit(\"calibration\",t)),v.call(this,e,t)}},components:{value:[p,m,b,\"orientation\",E]},calibration:{get(){return this.orientation.calibration}},isCalibrated:{get(){const{calibrationMask:t}=o.get(this);return(this.orientation.calibration&t)===t}}},MPL115A2:{initialize:{value(t){v.call(this,\"MPL115A2\",t)}},components:{value:[g,E]}},SHT31D:{initialize:{value(t){v.call(this,\"SHT31D\",t)}},components:{value:[y,E]}},HTU21D:{initialize:{value(t){v.call(this,\"HTU21D\",t)}},components:{value:[y,E]}},HIH6130:{initialize:{value(t){v.call(this,\"HIH6130\",t)}},components:{value:[y,E]}},DHT_I2C_NANO_BACKPACK:{initialize:{value(t){v.call(this,\"DHT_I2C_NANO_BACKPACK\",t)}},components:{value:[y,E]}},MPL3115A2:{initialize:{value(t){v.call(this,\"MPL3115A2\",t)}},components:{value:[f,g,E]}},BMP180:{initialize:{value(t){v.call(this,\"BMP180\",t)}},components:{value:[f,g,E]}},BMP280:{initialize:{value(t){v.call(this,\"BMP280\",t)}},components:{value:[f,g,E]}},BME280:{initialize:{value(t){v.call(this,\"BME280\",t)}},components:{value:[f,g,y,E]}},SI7020:{initialize:{value(t){v.call(this,\"SI7020\",t)}},components:{value:[y,E]}},MS5611:{initialize:{value(t){v.call(this,\"MS5611\",t)}},components:{value:[f,g,E]}},TH02:{initialize:{value(t){v.call(this,\"TH02\",t)}},components:{value:[y,E]}},LSM303C:{initialize:{value(t){v.call(this,\"LSM303C\",t)}},components:{value:[b,E,p]}}};w.BMP085=w.BMP180,w.GY521=w.MPU6050,w.SI7021=w.SI7020,w.DHT11_I2C_NANO_BACKPACK=w.DHT_I2C_NANO_BACKPACK,w.DHT21_I2C_NANO_BACKPACK=w.DHT_I2C_NANO_BACKPACK,w.DHT22_I2C_NANO_BACKPACK=w.DHT_I2C_NANO_BACKPACK;class T extends n{constructor(t){super(),r.Component.call(this,t=r.Options(t)),r.Controller.call(this,w,t);o.set(this,{}),this.freq=t.freq||20,\"function\"==typeof this.initialize&&this.initialize(t),this.isReady=!1,setInterval(()=>{this.isReady&&this.emit(\"data\",this)},this.freq);const e=this.components.slice();this.components&&this.components.length>0&&this.components.forEach(t=>{this[t]instanceof n&&this[t].on(\"change\",()=>{if(e.length){const i=e.indexOf(t);-1!==i&&e.splice(i,1)}e.length||this.isReady||(this.isReady=!0),this.isReady&&this.emit(\"change\",this,t)})})}}T.Drivers=S,i.env.IS_TEST_MODE&&(T.Controllers=w,T.purge=()=>{o.clear()}),e.exports=T}).call(this)}).call(this,t(\"_process\"))},{\"./accelerometer\":78,\"./altimeter\":79,\"./barometer\":81,\"./board\":82,\"./compass\":87,\"./fn\":93,\"./gyro\":95,\"./hygrometer\":96,\"./mixins/emitter\":113,\"./orientation\":117,\"./thermometer\":131,_process:158}],128:[function(t,e,i){(function(t){(function(){const i={micro(e){const i=t.hrtime();let r,n=0;for(;e>n;)r=t.hrtime(i),n=(1e9*r[0]+r[1])/1e3},milli(t){i.micro(1e3*t)}};e.exports=i}).call(this)}).call(this,t(\"_process\"))},{_process:158}],129:[function(t,e,i){const r=t(\"./board\"),n=t(\"./fn\"),s=new Map,o=new Map,a=n.TAU;class l{constructor(t){this.rpm=180,this.direction=-1,this.speed=0,this.accel=0,this.decel=0,this.stepper=t}move(t,e,i,r,n,s){this.stepper.io.stepperStep.apply(this.stepper.io,[this.stepper.id,e,t,i,r,n,s])}}function h(t){let e=0;for(t=t.slice();t.length;)this[\"motor\"+ ++e]=t.shift()}l.PROPERTIES=[\"rpm\",\"direction\",\"speed\",\"accel\",\"decel\"],l.DEFAULTS=[180,-1,0,0,0];class c{constructor(t){const e=[];let i;if(r.Component.call(this,t=r.Options(t)),!function({pins:t,MODES:e}){return t.some(({supportedModes:t})=>t.includes(e.STEPPER))}(this.io))throw new Error(\"Stepper is not supported\");if(!t.pins)throw new Error(\"Stepper requires a `pins` object or array\");if(!t.stepsPerRev)throw new Error(\"Stepper requires a `stepsPerRev` number value\");if(o.set(this.board,o.get(this.board)||[]),this.id=o.get(this.board).length,this.id>=6)throw new Error(\"Stepper cannot exceed max steppers (6)\");if(Array.isArray(this.pins)){if(2===this.pins.length&&!t.type)throw new Error(\"Stepper requires a `type` number value (DRIVER, TWO_WIRE)\");t.type===c.TYPE.DRIVER?this.pins={step:this.pins[0],dir:this.pins[1]}:this.pins=new h(this.pins)}if(t.type||(this.pins.dir?t.type=c.TYPE.DRIVER:this.pins.motor3?t.type=c.TYPE.FOUR_WIRE:t.type=c.TYPE.TWO_WIRE),e.push(this.id,t.type,t.stepsPerRev),t.type===c.TYPE.DRIVER){if(void 0===this.pins.dir||void 0===this.pins.step)throw new Error(\"Stepper.TYPE.DRIVER expects: `pins.dir`, `pins.step`\");e.push(this.pins.dir,this.pins.step)}if(t.type===c.TYPE.TWO_WIRE){if(void 0===this.pins.motor1||void 0===this.pins.motor2)throw new Error(\"Stepper.TYPE.TWO_WIRE expects: `pins.motor1`, `pins.motor2`\");e.push(this.pins.motor1,this.pins.motor2)}if(t.type===c.TYPE.FOUR_WIRE){if(void 0===this.pins.motor1||void 0===this.pins.motor2||void 0===this.pins.motor3||void 0===this.pins.motor4)throw new Error(\"Stepper.TYPE.FOUR_WIRE expects: `pins.motor1`, `pins.motor2`, `pins.motor3`, `pins.motor4`\");e.push(this.pins.motor1,this.pins.motor2,this.pins.motor3,this.pins.motor4)}e.slice(3).forEach(t=>{this.io.pinMode(t,this.io.MODES.STEPPER)}),this.io.stepperConfig.apply(this.io,e),o.get(this.board).push(this),i=l.PROPERTIES.reduce((e,i,r)=>(e[i]=void 0!==t[i]?t[i]:l.DEFAULTS[r],e),{isRunning:!1,type:t.type,pins:this.pins}),s.set(this,i),Object.defineProperties(this,{type:{get:()=>i.type},pins:{get:()=>i.pins}})}rpm(t){const e=s.get(this);return void 0===t?e.rpm:(e.rpm=t,e.speed=Math.round(t*a*100/60),this)}speed(t){const e=s.get(this);return void 0===t?e.speed:(e.speed=t,e.rpm=Math.round(t/a/100*60),this)}ccw(){return this.direction(0)}cw(){return this.direction(1)}step(t,e){let i,r,n,o,a;function h(t){a=!1,e&&e(t)}return i=\"object\"==typeof t?t.steps||0:Math.floor(t),r=new l(this),n=s.get(this),o=[],a=!0,o.push(i),\"object\"==typeof t&&l.PROPERTIES.forEach(e=>{void 0!==t[e]&&this[e](t[e])}),n.speed||(this.rpm(n.rpm),r.speed=this.speed()),l.PROPERTIES.slice(1).forEach(t=>{o.push(r[t]=this[t]())}),0===i&&h(new Error(\"Must set a number of steps when calling `step()`\")),r.direction<0&&h(new Error(\"Must set a direction before calling `step()`\")),a&&(n.isRunning=!0,o.push(t=>{n.isRunning=!1,e(null,t)}),r.move.apply(r,o)),this}}Object.defineProperties(c,{TYPE:{value:Object.freeze({DRIVER:1,TWO_WIRE:2,FOUR_WIRE:4})},RUNSTATE:{value:Object.freeze({STOP:0,ACCEL:1,DECEL:2,RUN:3})},DIRECTION:{value:Object.freeze({CCW:0,CW:1})}}),[\"direction\",\"accel\",\"decel\"].forEach(t=>{c.prototype[t]=function(e){const i=s.get(this);return void 0===e?i[t]:(i[t]=e,this)}}),e.exports=c},{\"./board\":82,\"./fn\":93}],130:[function(t,e,i){const r=t(\"./board\"),n=t(\"./mixins/collection\"),s=t(\"./mixins/emitter\"),o=t(\"./fn\");class a extends s{constructor(t){super(),r.Component.call(this,t=r.Options(t));const e=o.debounce(t=>this.emit(t,this),5);t.type=t.type||\"NO\";const i=\"NO\"===t.type;let n=null,s=void 0!==t.invert?t.invert:i||!1,a=1,l=0;s&&(a^=1,l^=1),this.io.pinMode(this.pin,this.io.MODES.INPUT),i&&this.io.digitalWrite(this.pin,this.io.HIGH),this.io.digitalRead(this.pin,t=>{n=t,e.call(this,this.isOpen?\"open\":\"close\")}),Object.defineProperties(this,{value:{get(){return Number(this.isOpen)}},invert:{get:()=>s,set(t){s=t,a=s?0:1,l=s?1:0}},closeValue:{get:()=>a,set(t){a=t,l=1^t}},openValue:{get:()=>l,set(t){l=t,a=1^t}},isOpen:{get:()=>n===l},isClosed:{get:()=>n===a}})}}class l extends n.Emitter{constructor(t){super(t)}get type(){return a}}n.installMethodForwarding(l.prototype,a.prototype),a.Collection=l,e.exports=a},{\"./board\":82,\"./fn\":93,\"./mixins/collection\":112,\"./mixins/emitter\":113}],131:[function(t,e,i){(function(i){(function(){const r=t(\"./board\"),n=t(\"events\"),s=t(\"./mixins/withinable\"),{toFixed:o,POW_2_16:a}=t(\"./fn\"),{log:l,round:h,trunc:c}=Math,u=273.15;function d(t,e){const i=t.pin;this.io.pinMode(i,this.io.MODES.ANALOG),this.io.analogRead(i,t=>{e.call(this,t)})}const p=new Map,f={MAX31850K:{initialize:{value(t,e){const i=59,r=68,n=190,s=9,o=e.pin,a=e.freq||100,l=t=>{let e=0;for(let i=6;i>0;i--)e=256*e+t[i];return e};t.io.sendOneWireConfig(o,!0),t.io.sendOneWireSearch(o,(e,h)=>{if(e)return void this.emit(\"error\",e);if(this.devices=h.filter(t=>t[0]===i,this),0===h.length)return void this.emit(\"error\",new Error(\"FAILED TO FIND TEMPERATURE DEVICE\"));this.devices.forEach(t=>{this.emit(\"initialized\",l(t))});let c=()=>this.addresses?this.devices.filter(function(t){const e=l(t);return this.addresses.includes(e)},this):[this.devices[0]],u=()=>{let e,i=c(),h=c();h.forEach(e=>{t.io.sendOneWireReset(o),t.io.sendOneWireWrite(o,e,r)});let d=e=>{let r;if(0===i.length)return e();r=i.pop(),t.io.sendOneWireReset(o),t.io.sendOneWireWriteAndRead(o,r,n,s,(t,n)=>{if(!n[0]&&(i.push(r),0!==n[1]))return e();d(e)})},p=()=>{let i;0!==h.length?(i=h.pop(),t.io.sendOneWireReset(o),t.io.sendOneWireWriteAndRead(o,i,n,s,(t,r)=>{t?this.emit(\"error\",t):(e=r[1]<<8|r[0],this.emit(\"data\",l(i),e),p())})):setTimeout(u,a)};d(p)};u()})}},register:{value(t){this.addresses||(this.addresses=[]),this.addresses.push(t)}}},DS18B20:{initialize:{value(t,e){const i=40,r=68,n=190,s=2,o=e.pin,a=e.freq||100;let l,h,c;l=t=>{let e,i=0;for(e=6;e>0;e--)i=256*i+t[e];return i},t.io.sendOneWireConfig(o,!0),t.io.sendOneWireSearch(o,(e,u)=>{e?this.emit(\"error\",e):(this.devices=u.filter(t=>t[0]===i,this),0!==u.length?(this.devices.forEach(t=>{this.emit(\"initialized\",l(t))}),h=()=>{let e,i;e=this.addresses?this.devices.filter(function(t){const e=l(t);return this.addresses.includes(e)},this):[this.devices[0]],e.forEach(e=>{t.io.sendOneWireReset(o),t.io.sendOneWireWrite(o,e,r)}),t.io.sendOneWireDelay(o,1),c=()=>{let r;0!==e.length?(r=e.pop(),t.io.sendOneWireReset(o),t.io.sendOneWireWriteAndRead(o,r,n,s,(t,e)=>{t?this.emit(\"error\",t):(i=e[1]<<8|e[0],this.emit(\"data\",l(r),i),c())})):setTimeout(h,a)},c()},h()):this.emit(\"error\",new Error(\"FAILED TO FIND TEMPERATURE DEVICE\")))})}},register:{value(t){this.addresses||(this.addresses=[]),this.addresses.push(t)}}},get:(t,e,i)=>{let r,s;p.has(t)||p.set(t,{}),r=p.get(t);const o=`${e}_${i.pin}`;return r[o]||(s=new n,Object.defineProperties(s,f[e]),s.initialize(t,i),r[o]=s),r[o]},clear:()=>{p.clear()}},g={ANALOG:{initialize:{value:d}},LM35:{initialize:{value:d},toCelsius:{value(t){const e=1e3*this.aref*t/1023;return h(e/10)}}},LM335:{initialize:{value:d},toCelsius:{value(t){const e=1e3*this.aref*t/1023;return h(e/10-u)}}},TMP36:{initialize:{value:d},toCelsius:{value(t){const e=1e3*this.aref*t/1023;return h(e/10-50)}}},TMP102:{ADDRESSES:{value:[72]},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\"),n=r.addressResolver(this,e);this.io.i2cConfig(e),this.io.i2cRead(n,0,2,t=>{let e=(t[0]<<8|t[1])>>4;2048&e&&(e|=63488),e=e>>15?-1*(1+(65535^e)):e,i(e)})}},toCelsius:{value:t=>o(t/16,1)}},MAX31850K:{initialize:{value(t,e){const i=m.get(this),r=t.address,n=f.get(this.board,\"MAX31850K\",t);r?(i.address=r,n.register(r)):(n.addressless&&this.emit(\"error\",\"You cannot have more than one MAX31850K without an address\"),n.addressless=!0),n.once(\"initialized\",t=>{i.address||(i.address=t)}),n.on(\"data\",(t,i)=>{r&&t!==r||e(i)})}},toCelsius:{value:t=>o(t/16,2)},address:{get(){return m.get(this).address||0}}},DS18B20:{initialize:{value(t,e){const i=m.get(this),r=t.address,n=f.get(this.board,\"DS18B20\",t);r?(i.address=r,n.register(r)):(n.addressless&&this.emit(\"error\",\"You cannot have more than one DS18B20 without an address\"),n.addressless=!0),n.once(\"initialized\",t=>{i.address||(i.address=t)}),n.on(\"data\",(t,i)=>{r&&t!==r||e(i)})}},toCelsius:{value:t=>o(t/16,4)},address:{get(){return m.get(this).address||0}}},SHT31D:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"SHT31D\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>o(t/(a-1)*175-45,3)}},HTU21D:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"HTU21D\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>o(t/a*175.72-46.85,2)}},HIH6130:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"HIH6130\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>h(t/1e3)}},DHT_I2C_NANO_BACKPACK:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"DHT_I2C_NANO_BACKPACK\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>h(t/100)}},TH02:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"TH02\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>o(t,1)}},MPU6050:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"MPU6050\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>h(t/340+36.53)}},BNO055:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"BNO055\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>c(t)}},MPL115A2:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"MPL115A2\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>c((t-498)/-5.35+25)}},MPL3115A2:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"MPL3115A2\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>h(t/16)}},MS5611:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"MS5611\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>o(t,2)}},GROVE:{initialize:{value:d},toCelsius:{value(t){const e=1/(l(1e4*(1023-t)/t/1e4)/3975+1/298.15)-u;return h(e)}}},TINKERKIT:{initialize:{value:d},toCelsius:{value(t){const e=3950/l(120.6685*(1e4*(1023/t-1)));return h(e-u)}}},BMP180:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"BMP180\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>o(t,1)}},BMP280:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"BMP280\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>o(t,2)}},BME280:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"BME280\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>o(t,2)}},SI7020:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"SI7020\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>o(175.72*t/65536-46.85,1)}},MCP9808:{ADDRESSES:{value:[24]},initialize:{value(e,i){const{Drivers:r}=t(\"./sip\"),n=r.addressResolver(this,e);this.io.i2cConfig(e),this.io.i2cRead(n,5,2,t=>{let e=(4095&(t[0]<<8|t[1]))/16;4096&e&&(e-=256),i(e)})}},toCelsius:{value:t=>o(t,2)}},LSM303C:{initialize:{value(e,i){const{Drivers:r}=t(\"./sip\");r.get(this.board,\"LSM303C\",e).on(\"data\",({temperature:t})=>i(t))}},toCelsius:{value:t=>o(t/8+25,1)}}};g.BMP085=g.BMP180,g.GY521=g.MPU6050,g.SI7021=g.SI7020,g.DHT11_I2C_NANO_BACKPACK=g.DHT_I2C_NANO_BACKPACK,g.DHT21_I2C_NANO_BACKPACK=g.DHT_I2C_NANO_BACKPACK,g.DHT22_I2C_NANO_BACKPACK=g.DHT_I2C_NANO_BACKPACK,g.DEFAULT=g.ANALOG;var m=new Map;class y extends s{constructor(t){super();let e=null,i=null;r.Component.call(this,t=r.Options(t)),r.Controller.call(this,g,t);const n={enabled:void 0===t.enabled||t.enabled,intervalId:null,freq:t.freq||25,previousFreq:t.freq||25};m.set(this,n),this.aref=t.aref||this.io.aref||5,this.toCelsius||(this.toCelsius=t.toCelsius||(t=>t));const s=()=>{if(null==i)return;const t={};t.C=t.celsius=this.celsius,t.F=t.fahrenheit=this.fahrenheit,t.K=t.kelvin=this.kelvin,this.emit(\"data\",t),this.celsius!==e&&(e=this.celsius,this.emit(\"change\",t))},a={celsius:{get(){return this.toCelsius(i)}},fahrenheit:{get(){return o(9*this.celsius/5+32,2)}},kelvin:{get(){return o(this.celsius+u,2)}},freq:{get:()=>n.freq,set(t){n.freq=t,n.intervalId&&clearInterval(n.intervalId),null!==n.freq&&(n.intervalId=setInterval(s,t))}}};a.C=a.celsius,a.F=a.fahrenheit,a.K=a.kelvin,Object.defineProperties(this,a),\"function\"==typeof this.initialize&&this.initialize(t,t=>i=t),n.enabled&&(this.freq=n.freq)}enable(){const t=m.get(this);return t.enabled||(this.freq=t.freq||t.previousFreq),this}disable(){const t=m.get(this);return t.enabled&&(t.enabled=!1,t.previousFreq=t.freq,this.freq=null),this}}y.Drivers=f,i.env.IS_TEST_MODE&&(y.Controllers=g,y.purge=()=>{m.clear()}),e.exports=y}).call(this)}).call(this,t(\"_process\"))},{\"./board\":82,\"./fn\":93,\"./mixins/withinable\":114,\"./sip\":127,_process:158,events:48}],132:[function(t,e,i){\"use strict\";const r=t(\"color-convert\"),n=(t,e)=>function(){return`\u001b[${t.apply(r,arguments)+e}m`},s=(t,e)=>function(){const i=t.apply(r,arguments);return`\u001b[${38+e};5;${i}m`},o=(t,e)=>function(){const i=t.apply(r,arguments);return`\u001b[${38+e};2;${i[0]};${i[1]};${i[2]}m`};Object.defineProperty(e,\"exports\",{enumerable:!0,get:function(){const t=new Map,e={modifier:{reset:[0,0],bold:[1,22],dim:[2,22],italic:[3,23],underline:[4,24],inverse:[7,27],hidden:[8,28],strikethrough:[9,29]},color:{black:[30,39],red:[31,39],green:[32,39],yellow:[33,39],blue:[34,39],magenta:[35,39],cyan:[36,39],white:[37,39],gray:[90,39],redBright:[91,39],greenBright:[92,39],yellowBright:[93,39],blueBright:[94,39],magentaBright:[95,39],cyanBright:[96,39],whiteBright:[97,39]},bgColor:{bgBlack:[40,49],bgRed:[41,49],bgGreen:[42,49],bgYellow:[43,49],bgBlue:[44,49],bgMagenta:[45,49],bgCyan:[46,49],bgWhite:[47,49],bgBlackBright:[100,49],bgRedBright:[101,49],bgGreenBright:[102,49],bgYellowBright:[103,49],bgBlueBright:[104,49],bgMagentaBright:[105,49],bgCyanBright:[106,49],bgWhiteBright:[107,49]}};e.color.grey=e.color.gray;for(const i of Object.keys(e)){const r=e[i];for(const i of Object.keys(r)){const n=r[i];e[i]={open:`\u001b[${n[0]}m`,close:`\u001b[${n[1]}m`},r[i]=e[i],t.set(n[0],n[1])}Object.defineProperty(e,i,{value:r,enumerable:!1}),Object.defineProperty(e,\"codes\",{value:t,enumerable:!1})}const i=t=>t,a=(t,e,i)=>[t,e,i];e.color.close=\"\u001b[39m\",e.bgColor.close=\"\u001b[49m\",e.color.ansi={ansi:n(i,0)},e.color.ansi256={ansi256:s(i,0)},e.color.ansi16m={rgb:o(a,0)},e.bgColor.ansi={ansi:n(i,10)},e.bgColor.ansi256={ansi256:s(i,10)},e.bgColor.ansi16m={rgb:o(a,10)};for(let t of Object.keys(r)){if(\"object\"!=typeof r[t])continue;const i=r[t];\"ansi16\"===t&&(t=\"ansi\"),\"ansi16\"in i&&(e.color.ansi[t]=n(i.ansi16,0),e.bgColor.ansi[t]=n(i.ansi16,10)),\"ansi256\"in i&&(e.color.ansi256[t]=s(i.ansi256,0),e.bgColor.ansi256[t]=s(i.ansi256,10)),\"rgb\"in i&&(e.color.ansi16m[t]=o(i.rgb,0),e.bgColor.ansi16m[t]=o(i.rgb,10))}return e}})},{\"color-convert\":134}],133:[function(t,e,i){var r=t(\"color-name\"),n={};for(var s in r)r.hasOwnProperty(s)&&(n[r[s]]=s);var o=e.exports={rgb:{channels:3,labels:\"rgb\"},hsl:{channels:3,labels:\"hsl\"},hsv:{channels:3,labels:\"hsv\"},hwb:{channels:3,labels:\"hwb\"},cmyk:{channels:4,labels:\"cmyk\"},xyz:{channels:3,labels:\"xyz\"},lab:{channels:3,labels:\"lab\"},lch:{channels:3,labels:\"lch\"},hex:{channels:1,labels:[\"hex\"]},keyword:{channels:1,labels:[\"keyword\"]},ansi16:{channels:1,labels:[\"ansi16\"]},ansi256:{channels:1,labels:[\"ansi256\"]},hcg:{channels:3,labels:[\"h\",\"c\",\"g\"]},apple:{channels:3,labels:[\"r16\",\"g16\",\"b16\"]},gray:{channels:1,labels:[\"gray\"]}};for(var a in o)if(o.hasOwnProperty(a)){if(!(\"channels\"in o[a]))throw new Error(\"missing channels property: \"+a);if(!(\"labels\"in o[a]))throw new Error(\"missing channel labels property: \"+a);if(o[a].labels.length!==o[a].channels)throw new Error(\"channel and label counts mismatch: \"+a);var l=o[a].channels,h=o[a].labels;delete o[a].channels,delete o[a].labels,Object.defineProperty(o[a],\"channels\",{value:l}),Object.defineProperty(o[a],\"labels\",{value:h})}function c(t,e){return Math.pow(t[0]-e[0],2)+Math.pow(t[1]-e[1],2)+Math.pow(t[2]-e[2],2)}o.rgb.hsl=function(t){var e,i,r=t[0]/255,n=t[1]/255,s=t[2]/255,o=Math.min(r,n,s),a=Math.max(r,n,s),l=a-o;return a===o?e=0:r===a?e=(n-s)/l:n===a?e=2+(s-r)/l:s===a&&(e=4+(r-n)/l),(e=Math.min(60*e,360))<0&&(e+=360),i=(o+a)/2,[e,100*(a===o?0:i<=.5?l/(a+o):l/(2-a-o)),100*i]},o.rgb.hsv=function(t){var e,i,r,n,s,o=t[0]/255,a=t[1]/255,l=t[2]/255,h=Math.max(o,a,l),c=h-Math.min(o,a,l),u=function(t){return(h-t)/6/c+.5};return 0===c?n=s=0:(s=c/h,e=u(o),i=u(a),r=u(l),o===h?n=r-i:a===h?n=1/3+e-r:l===h&&(n=2/3+i-e),n<0?n+=1:n>1&&(n-=1)),[360*n,100*s,100*h]},o.rgb.hwb=function(t){var e=t[0],i=t[1],r=t[2];return[o.rgb.hsl(t)[0],100*(1/255*Math.min(e,Math.min(i,r))),100*(r=1-1/255*Math.max(e,Math.max(i,r)))]},o.rgb.cmyk=function(t){var e,i=t[0]/255,r=t[1]/255,n=t[2]/255;return[100*((1-i-(e=Math.min(1-i,1-r,1-n)))/(1-e)||0),100*((1-r-e)/(1-e)||0),100*((1-n-e)/(1-e)||0),100*e]},o.rgb.keyword=function(t){var e=n[t];if(e)return e;var i,s=1/0;for(var o in r)if(r.hasOwnProperty(o)){var a=c(t,r[o]);a.04045?Math.pow((e+.055)/1.055,2.4):e/12.92)+.3576*(i=i>.04045?Math.pow((i+.055)/1.055,2.4):i/12.92)+.1805*(r=r>.04045?Math.pow((r+.055)/1.055,2.4):r/12.92)),100*(.2126*e+.7152*i+.0722*r),100*(.0193*e+.1192*i+.9505*r)]},o.rgb.lab=function(t){var e=o.rgb.xyz(t),i=e[0],r=e[1],n=e[2];return r/=100,n/=108.883,i=(i/=95.047)>.008856?Math.pow(i,1/3):7.787*i+16/116,[116*(r=r>.008856?Math.pow(r,1/3):7.787*r+16/116)-16,500*(i-r),200*(r-(n=n>.008856?Math.pow(n,1/3):7.787*n+16/116))]},o.hsl.rgb=function(t){var e,i,r,n,s,o=t[0]/360,a=t[1]/100,l=t[2]/100;if(0===a)return[s=255*l,s,s];e=2*l-(i=l<.5?l*(1+a):l+a-l*a),n=[0,0,0];for(var h=0;h<3;h++)(r=o+1/3*-(h-1))<0&&r++,r>1&&r--,s=6*r<1?e+6*(i-e)*r:2*r<1?i:3*r<2?e+(i-e)*(2/3-r)*6:e,n[h]=255*s;return n},o.hsl.hsv=function(t){var e=t[0],i=t[1]/100,r=t[2]/100,n=i,s=Math.max(r,.01);return i*=(r*=2)<=1?r:2-r,n*=s<=1?s:2-s,[e,100*(0===r?2*n/(s+n):2*i/(r+i)),100*((r+i)/2)]},o.hsv.rgb=function(t){var e=t[0]/60,i=t[1]/100,r=t[2]/100,n=Math.floor(e)%6,s=e-Math.floor(e),o=255*r*(1-i),a=255*r*(1-i*s),l=255*r*(1-i*(1-s));switch(r*=255,n){case 0:return[r,l,o];case 1:return[a,r,o];case 2:return[o,r,l];case 3:return[o,a,r];case 4:return[l,o,r];case 5:return[r,o,a]}},o.hsv.hsl=function(t){var e,i,r,n=t[0],s=t[1]/100,o=t[2]/100,a=Math.max(o,.01);return r=(2-s)*o,i=s*a,[n,100*(i=(i/=(e=(2-s)*a)<=1?e:2-e)||0),100*(r/=2)]},o.hwb.rgb=function(t){var e,i,r,n,s,o,a,l=t[0]/360,h=t[1]/100,c=t[2]/100,u=h+c;switch(u>1&&(h/=u,c/=u),r=6*l-(e=Math.floor(6*l)),1&e&&(r=1-r),n=h+r*((i=1-c)-h),e){default:case 6:case 0:s=i,o=n,a=h;break;case 1:s=n,o=i,a=h;break;case 2:s=h,o=i,a=n;break;case 3:s=h,o=n,a=i;break;case 4:s=n,o=h,a=i;break;case 5:s=i,o=h,a=n}return[255*s,255*o,255*a]},o.cmyk.rgb=function(t){var e=t[0]/100,i=t[1]/100,r=t[2]/100,n=t[3]/100;return[255*(1-Math.min(1,e*(1-n)+n)),255*(1-Math.min(1,i*(1-n)+n)),255*(1-Math.min(1,r*(1-n)+n))]},o.xyz.rgb=function(t){var e,i,r,n=t[0]/100,s=t[1]/100,o=t[2]/100;return i=-.9689*n+1.8758*s+.0415*o,r=.0557*n+-.204*s+1.057*o,e=(e=3.2406*n+-1.5372*s+-.4986*o)>.0031308?1.055*Math.pow(e,1/2.4)-.055:12.92*e,i=i>.0031308?1.055*Math.pow(i,1/2.4)-.055:12.92*i,r=r>.0031308?1.055*Math.pow(r,1/2.4)-.055:12.92*r,[255*(e=Math.min(Math.max(0,e),1)),255*(i=Math.min(Math.max(0,i),1)),255*(r=Math.min(Math.max(0,r),1))]},o.xyz.lab=function(t){var e=t[0],i=t[1],r=t[2];return i/=100,r/=108.883,e=(e/=95.047)>.008856?Math.pow(e,1/3):7.787*e+16/116,[116*(i=i>.008856?Math.pow(i,1/3):7.787*i+16/116)-16,500*(e-i),200*(i-(r=r>.008856?Math.pow(r,1/3):7.787*r+16/116))]},o.lab.xyz=function(t){var e,i,r,n=t[0];e=t[1]/500+(i=(n+16)/116),r=i-t[2]/200;var s=Math.pow(i,3),o=Math.pow(e,3),a=Math.pow(r,3);return i=s>.008856?s:(i-16/116)/7.787,e=o>.008856?o:(e-16/116)/7.787,r=a>.008856?a:(r-16/116)/7.787,[e*=95.047,i*=100,r*=108.883]},o.lab.lch=function(t){var e,i=t[0],r=t[1],n=t[2];return(e=360*Math.atan2(n,r)/2/Math.PI)<0&&(e+=360),[i,Math.sqrt(r*r+n*n),e]},o.lch.lab=function(t){var e,i=t[0],r=t[1];return e=t[2]/360*2*Math.PI,[i,r*Math.cos(e),r*Math.sin(e)]},o.rgb.ansi16=function(t){var e=t[0],i=t[1],r=t[2],n=1 in arguments?arguments[1]:o.rgb.hsv(t)[2];if(0===(n=Math.round(n/50)))return 30;var s=30+(Math.round(r/255)<<2|Math.round(i/255)<<1|Math.round(e/255));return 2===n&&(s+=60),s},o.hsv.ansi16=function(t){return o.rgb.ansi16(o.hsv.rgb(t),t[2])},o.rgb.ansi256=function(t){var e=t[0],i=t[1],r=t[2];return e===i&&i===r?e<8?16:e>248?231:Math.round((e-8)/247*24)+232:16+36*Math.round(e/255*5)+6*Math.round(i/255*5)+Math.round(r/255*5)},o.ansi16.rgb=function(t){var e=t%10;if(0===e||7===e)return t>50&&(e+=3.5),[e=e/10.5*255,e,e];var i=.5*(1+~~(t>50));return[(1&e)*i*255,(e>>1&1)*i*255,(e>>2&1)*i*255]},o.ansi256.rgb=function(t){if(t>=232){var e=10*(t-232)+8;return[e,e,e]}var i;return t-=16,[Math.floor(t/36)/5*255,Math.floor((i=t%36)/6)/5*255,i%6/5*255]},o.rgb.hex=function(t){var e=(((255&Math.round(t[0]))<<16)+((255&Math.round(t[1]))<<8)+(255&Math.round(t[2]))).toString(16).toUpperCase();return\"000000\".substring(e.length)+e},o.hex.rgb=function(t){var e=t.toString(16).match(/[a-f0-9]{6}|[a-f0-9]{3}/i);if(!e)return[0,0,0];var i=e[0];3===e[0].length&&(i=i.split(\"\").map(function(t){return t+t}).join(\"\"));var r=parseInt(i,16);return[r>>16&255,r>>8&255,255&r]},o.rgb.hcg=function(t){var e,i=t[0]/255,r=t[1]/255,n=t[2]/255,s=Math.max(Math.max(i,r),n),o=Math.min(Math.min(i,r),n),a=s-o;return e=a<=0?0:s===i?(r-n)/a%6:s===r?2+(n-i)/a:4+(i-r)/a+4,e/=6,[360*(e%=1),100*a,100*(a<1?o/(1-a):0)]},o.hsl.hcg=function(t){var e=t[1]/100,i=t[2]/100,r=1,n=0;return(r=i<.5?2*e*i:2*e*(1-i))<1&&(n=(i-.5*r)/(1-r)),[t[0],100*r,100*n]},o.hsv.hcg=function(t){var e=t[1]/100,i=t[2]/100,r=e*i,n=0;return r<1&&(n=(i-r)/(1-r)),[t[0],100*r,100*n]},o.hcg.rgb=function(t){var e=t[0]/360,i=t[1]/100,r=t[2]/100;if(0===i)return[255*r,255*r,255*r];var n,s=[0,0,0],o=e%1*6,a=o%1,l=1-a;switch(Math.floor(o)){case 0:s[0]=1,s[1]=a,s[2]=0;break;case 1:s[0]=l,s[1]=1,s[2]=0;break;case 2:s[0]=0,s[1]=1,s[2]=a;break;case 3:s[0]=0,s[1]=l,s[2]=1;break;case 4:s[0]=a,s[1]=0,s[2]=1;break;default:s[0]=1,s[1]=0,s[2]=l}return n=(1-i)*r,[255*(i*s[0]+n),255*(i*s[1]+n),255*(i*s[2]+n)]},o.hcg.hsv=function(t){var e=t[1]/100,i=e+t[2]/100*(1-e),r=0;return i>0&&(r=e/i),[t[0],100*r,100*i]},o.hcg.hsl=function(t){var e=t[1]/100,i=t[2]/100*(1-e)+.5*e,r=0;return i>0&&i<.5?r=e/(2*i):i>=.5&&i<1&&(r=e/(2*(1-i))),[t[0],100*r,100*i]},o.hcg.hwb=function(t){var e=t[1]/100,i=e+t[2]/100*(1-e);return[t[0],100*(i-e),100*(1-i)]},o.hwb.hcg=function(t){var e=t[1]/100,i=1-t[2]/100,r=i-e,n=0;return r<1&&(n=(i-r)/(1-r)),[t[0],100*r,100*n]},o.apple.rgb=function(t){return[t[0]/65535*255,t[1]/65535*255,t[2]/65535*255]},o.rgb.apple=function(t){return[t[0]/255*65535,t[1]/255*65535,t[2]/255*65535]},o.gray.rgb=function(t){return[t[0]/100*255,t[0]/100*255,t[0]/100*255]},o.gray.hsl=o.gray.hsv=function(t){return[0,0,t[0]]},o.gray.hwb=function(t){return[0,100,t[0]]},o.gray.cmyk=function(t){return[0,0,0,t[0]]},o.gray.lab=function(t){return[t[0],0,0]},o.gray.hex=function(t){var e=255&Math.round(t[0]/100*255),i=((e<<16)+(e<<8)+e).toString(16).toUpperCase();return\"000000\".substring(i.length)+i},o.rgb.gray=function(t){return[(t[0]+t[1]+t[2])/3/255*100]}},{\"color-name\":142}],134:[function(t,e,i){var r=t(\"./conversions\"),n=t(\"./route\"),s={};Object.keys(r).forEach(function(t){s[t]={},Object.defineProperty(s[t],\"channels\",{value:r[t].channels}),Object.defineProperty(s[t],\"labels\",{value:r[t].labels});var e=n(t);Object.keys(e).forEach(function(i){var r=e[i];s[t][i]=function(t){var e=function(e){if(null==e)return e;arguments.length>1&&(e=Array.prototype.slice.call(arguments));var i=t(e);if(\"object\"==typeof i)for(var r=i.length,n=0;n1&&(e=Array.prototype.slice.call(arguments)),t(e))};return\"conversion\"in t&&(e.conversion=t.conversion),e}(r)})}),e.exports=s},{\"./conversions\":133,\"./route\":135}],135:[function(t,e,i){var r=t(\"./conversions\");function n(t){var e=function(){for(var t={},e=Object.keys(r),i=e.length,n=0;n0}function d(t){if(!this||!(this instanceof d)||this.template){const e={};return u(e,t),e.template=function(){const t=[].slice.call(arguments);return m.apply(null,[e.template].concat(t))},Object.setPrototypeOf(e,d.prototype),Object.setPrototypeOf(e.template,e),e.template.constructor=d,e.template}u(this,t)}a&&(n.blue.open=\"\u001b[94m\");for(const t of Object.keys(n))n[t].closeRe=new RegExp(r(n[t].close),\"g\"),c[t]={get(){const e=n[t];return f.call(this,this._styles?this._styles.concat(e):[e],t)}};n.color.closeRe=new RegExp(r(n.color.close),\"g\");for(const t of Object.keys(n.color.ansi))h.has(t)||(c[t]={get(){const e=this.level;return function(){const i={open:n.color[l[e]][t].apply(null,arguments),close:n.color.close,closeRe:n.color.closeRe};return f.call(this,this._styles?this._styles.concat(i):[i],t)}}});n.bgColor.closeRe=new RegExp(r(n.bgColor.close),\"g\");for(const t of Object.keys(n.bgColor.ansi)){if(h.has(t))continue;c[\"bg\"+t[0].toUpperCase()+t.slice(1)]={get(){const e=this.level;return function(){const i={open:n.bgColor[l[e]][t].apply(null,arguments),close:n.bgColor.close,closeRe:n.bgColor.closeRe};return f.call(this,this._styles?this._styles.concat(i):[i],t)}}}}const p=Object.defineProperties(()=>{},c);function f(t,e){const i=function(){return g.apply(i,arguments)};i._styles=t;const r=this;return Object.defineProperty(i,\"level\",{enumerable:!0,get:()=>r.level,set(t){r.level=t}}),Object.defineProperty(i,\"enabled\",{enumerable:!0,get:()=>r.enabled,set(t){r.enabled=t}}),i.hasGrey=this.hasGrey||\"gray\"===e||\"grey\"===e,i.__proto__=p,i}function g(){const t=arguments,e=t.length;let i=String(arguments[0]);if(0===e)return\"\";if(e>1)for(let r=1;re?l(e):i))}else i.push(Number(e));return i}function c(t){n.lastIndex=0;const e=[];let i;for(;null!==(i=n.exec(t));){const t=i[1];if(i[2]){const r=h(t,i[2]);e.push([t].concat(r))}else e.push([t])}return e}function u(t,e){const i={};for(const t of e)for(const e of t.styles)i[e[0]]=t.inverse?null:e.slice(1);let r=t;for(const t of Object.keys(i))if(Array.isArray(i[t])){if(!(t in r))throw new Error(`Unknown Chalk style: ${t}`);r=i[t].length>0?r[t].apply(r,i[t]):r[t]}return r}e.exports=(t,e)=>{const i=[],n=[];let s=[];if(e.replace(r,(e,r,o,a,h,d)=>{if(r)s.push(l(r));else if(a){const 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o[a].channels,Object.defineProperty(o[a],\"channels\",{value:l})}o.rgb.hsl=function(t){var e,i,r=t[0]/255,n=t[1]/255,s=t[2]/255,o=Math.min(r,n,s),a=Math.max(r,n,s),l=a-o;return a===o?e=0:r===a?e=(n-s)/l:n===a?e=2+(s-r)/l:s===a&&(e=4+(r-n)/l),(e=Math.min(60*e,360))<0&&(e+=360),i=(o+a)/2,[e,100*(a===o?0:i<=.5?l/(a+o):l/(2-a-o)),100*i]},o.rgb.hsv=function(t){var e,i,r=t[0],n=t[1],s=t[2],o=Math.min(r,n,s),a=Math.max(r,n,s),l=a-o;return i=0===a?0:l/a*1e3/10,a===o?e=0:r===a?e=(n-s)/l:n===a?e=2+(s-r)/l:s===a&&(e=4+(r-n)/l),(e=Math.min(60*e,360))<0&&(e+=360),[e,i,a/255*1e3/10]},o.rgb.hwb=function(t){var e=t[0],i=t[1],r=t[2];return[o.rgb.hsl(t)[0],100*(1/255*Math.min(e,Math.min(i,r))),100*(r=1-1/255*Math.max(e,Math.max(i,r)))]},o.rgb.cmyk=function(t){var e,i=t[0]/255,r=t[1]/255,n=t[2]/255;return[100*((1-i-(e=Math.min(1-i,1-r,1-n)))/(1-e)||0),100*((1-r-e)/(1-e)||0),100*((1-n-e)/(1-e)||0),100*e]},o.rgb.keyword=function(t){return n[t.join()]},o.keyword.rgb=function(t){return r[t]},o.rgb.xyz=function(t){var e=t[0]/255,i=t[1]/255,r=t[2]/255;return[100*(.4124*(e=e>.04045?Math.pow((e+.055)/1.055,2.4):e/12.92)+.3576*(i=i>.04045?Math.pow((i+.055)/1.055,2.4):i/12.92)+.1805*(r=r>.04045?Math.pow((r+.055)/1.055,2.4):r/12.92)),100*(.2126*e+.7152*i+.0722*r),100*(.0193*e+.1192*i+.9505*r)]},o.rgb.lab=function(t){var e=o.rgb.xyz(t),i=e[0],r=e[1],n=e[2];return r/=100,n/=108.883,i=(i/=95.047)>.008856?Math.pow(i,1/3):7.787*i+16/116,[116*(r=r>.008856?Math.pow(r,1/3):7.787*r+16/116)-16,500*(i-r),200*(r-(n=n>.008856?Math.pow(n,1/3):7.787*n+16/116))]},o.hsl.rgb=function(t){var e,i,r,n,s,o=t[0]/360,a=t[1]/100,l=t[2]/100;if(0===a)return[s=255*l,s,s];e=2*l-(i=l<.5?l*(1+a):l+a-l*a),n=[0,0,0];for(var h=0;h<3;h++)(r=o+1/3*-(h-1))<0&&r++,r>1&&r--,s=6*r<1?e+6*(i-e)*r:2*r<1?i:3*r<2?e+(i-e)*(2/3-r)*6:e,n[h]=255*s;return n},o.hsl.hsv=function(t){var e=t[0],i=t[1]/100,r=t[2]/100;return 0===r?[0,0,0]:[e,100*(2*(i*=(r*=2)<=1?r:2-r)/(r+i)),100*((r+i)/2)]},o.hsv.rgb=function(t){var e=t[0]/60,i=t[1]/100,r=t[2]/100,n=Math.floor(e)%6,s=e-Math.floor(e),o=255*r*(1-i),a=255*r*(1-i*s),l=255*r*(1-i*(1-s));switch(r*=255,n){case 0:return[r,l,o];case 1:return[a,r,o];case 2:return[o,r,l];case 3:return[o,a,r];case 4:return[l,o,r];case 5:return[r,o,a]}},o.hsv.hsl=function(t){var e,i,r=t[0],n=t[1]/100,s=t[2]/100;return e=n*s,[r,100*(e=(e/=(i=(2-n)*s)<=1?i:2-i)||0),100*(i/=2)]},o.hwb.rgb=function(t){var e,i,r,n,s,o,a,l=t[0]/360,h=t[1]/100,c=t[2]/100,u=h+c;switch(u>1&&(h/=u,c/=u),r=6*l-(e=Math.floor(6*l)),1&e&&(r=1-r),n=h+r*((i=1-c)-h),e){default:case 6:case 0:s=i,o=n,a=h;break;case 1:s=n,o=i,a=h;break;case 2:s=h,o=i,a=n;break;case 3:s=h,o=n,a=i;break;case 4:s=n,o=h,a=i;break;case 5:s=i,o=h,a=n}return[255*s,255*o,255*a]},o.cmyk.rgb=function(t){var e=t[0]/100,i=t[1]/100,r=t[2]/100,n=t[3]/100;return[255*(1-Math.min(1,e*(1-n)+n)),255*(1-Math.min(1,i*(1-n)+n)),255*(1-Math.min(1,r*(1-n)+n))]},o.xyz.rgb=function(t){var e,i,r,n=t[0]/100,s=t[1]/100,o=t[2]/100;return i=-.9689*n+1.8758*s+.0415*o,r=.0557*n+-.204*s+1.057*o,e=(e=3.2406*n+-1.5372*s+-.4986*o)>.0031308?1.055*Math.pow(e,1/2.4)-.055:e*=12.92,i=i>.0031308?1.055*Math.pow(i,1/2.4)-.055:i*=12.92,r=r>.0031308?1.055*Math.pow(r,1/2.4)-.055:r*=12.92,[255*(e=Math.min(Math.max(0,e),1)),255*(i=Math.min(Math.max(0,i),1)),255*(r=Math.min(Math.max(0,r),1))]},o.xyz.lab=function(t){var e=t[0],i=t[1],r=t[2];return i/=100,r/=108.883,e=(e/=95.047)>.008856?Math.pow(e,1/3):7.787*e+16/116,[116*(i=i>.008856?Math.pow(i,1/3):7.787*i+16/116)-16,500*(e-i),200*(i-(r=r>.008856?Math.pow(r,1/3):7.787*r+16/116))]},o.lab.xyz=function(t){var e,i,r,n,s=t[0],o=t[1],a=t[2];return s<=8?n=(i=100*s/903.3)/100*7.787+16/116:(i=100*Math.pow((s+16)/116,3),n=Math.pow(i/100,1/3)),[e=e/95.047<=.008856?e=95.047*(o/500+n-16/116)/7.787:95.047*Math.pow(o/500+n,3),i,r=r/108.883<=.008859?r=108.883*(n-a/200-16/116)/7.787:108.883*Math.pow(n-a/200,3)]},o.lab.lch=function(t){var e,i=t[0],r=t[1],n=t[2];return(e=360*Math.atan2(n,r)/2/Math.PI)<0&&(e+=360),[i,Math.sqrt(r*r+n*n),e]},o.lch.lab=function(t){var e,i=t[0],r=t[1];return e=t[2]/360*2*Math.PI,[i,r*Math.cos(e),r*Math.sin(e)]},o.rgb.ansi16=function(t){var e=t[0],i=t[1],r=t[2],n=1 in arguments?arguments[1]:o.rgb.hsv(t)[2];if(0===(n=Math.round(n/50)))return 30;var s=30+(Math.round(r/255)<<2|Math.round(i/255)<<1|Math.round(e/255));return 2===n&&(s+=60),s},o.hsv.ansi16=function(t){return o.rgb.ansi16(o.hsv.rgb(t),t[2])},o.rgb.ansi256=function(t){var e=t[0],i=t[1],r=t[2];return e===i&&i===r?e<8?16:e>248?231:Math.round((e-8)/247*24)+232:16+36*Math.round(e/255*5)+6*Math.round(i/255*5)+Math.round(r/255*5)},o.ansi16.rgb=function(t){var e=t%10;if(0===e||7===e)return t>50&&(e+=3.5),[e=e/10.5*255,e,e];var i=.5*(1+~~(t>50));return[(1&e)*i*255,(e>>1&1)*i*255,(e>>2&1)*i*255]},o.ansi256.rgb=function(t){if(t>=232){var e=10*(t-232)+8;return[e,e,e]}var i;return t-=16,[Math.floor(t/36)/5*255,Math.floor((i=t%36)/6)/5*255,i%6/5*255]},o.rgb.hex=function(t){var e=(((255&Math.round(t[0]))<<16)+((255&Math.round(t[1]))<<8)+(255&Math.round(t[2]))).toString(16).toUpperCase();return\"000000\".substring(e.length)+e},o.hex.rgb=function(t){var e=t.toString(16).match(/[a-f0-9]{6}/i);if(!e)return[0,0,0];var i=parseInt(e[0],16);return[i>>16&255,i>>8&255,255&i]},o.rgb.hcg=function(t){var e,i=t[0]/255,r=t[1]/255,n=t[2]/255,s=Math.max(Math.max(i,r),n),o=Math.min(Math.min(i,r),n),a=s-o;return e=a<=0?0:s===i?(r-n)/a%6:s===r?2+(n-i)/a:4+(i-r)/a+4,e/=6,[360*(e%=1),100*a,100*(a<1?o/(1-a):0)]},o.hsl.hcg=function(t){var e=t[1]/100,i=t[2]/100,r=1,n=0;return(r=i<.5?2*e*i:2*e*(1-i))<1&&(n=(i-.5*r)/(1-r)),[t[0],100*r,100*n]},o.hsv.hcg=function(t){var e=t[1]/100,i=t[2]/100,r=e*i,n=0;return r<1&&(n=(i-r)/(1-r)),[t[0],100*r,100*n]},o.hcg.rgb=function(t){var e=t[0]/360,i=t[1]/100,r=t[2]/100;if(0===i)return[255*r,255*r,255*r];var n,s=[0,0,0],o=e%1*6,a=o%1,l=1-a;switch(Math.floor(o)){case 0:s[0]=1,s[1]=a,s[2]=0;break;case 1:s[0]=l,s[1]=1,s[2]=0;break;case 2:s[0]=0,s[1]=1,s[2]=a;break;case 3:s[0]=0,s[1]=l,s[2]=1;break;case 4:s[0]=a,s[1]=0,s[2]=1;break;default:s[0]=1,s[1]=0,s[2]=l}return n=(1-i)*r,[255*(i*s[0]+n),255*(i*s[1]+n),255*(i*s[2]+n)]},o.hcg.hsv=function(t){var e=t[1]/100,i=e+t[2]/100*(1-e),r=0;return i>0&&(r=e/i),[t[0],100*r,100*i]},o.hcg.hsl=function(t){var e=t[1]/100,i=t[2]/100*(1-e)+.5*e,r=0;return i>0&&i<.5?r=e/(2*i):i>=.5&&i<1&&(r=e/(2*(1-i))),[t[0],100*r,100*i]}},{\"./css-keywords\":139}],139:[function(t,e,i){e.exports={aliceblue:[240,248,255],antiquewhite:[250,235,215],aqua:[0,255,255],aquamarine:[127,255,212],azure:[240,255,255],beige:[245,245,220],bisque:[255,228,196],black:[0,0,0],blanchedalmond:[255,235,205],blue:[0,0,255],blueviolet:[138,43,226],brown:[165,42,42],burlywood:[222,184,135],cadetblue:[95,158,160],chartreuse:[127,255,0],chocolate:[210,105,30],coral:[255,127,80],cornflowerblue:[100,149,237],cornsilk:[255,248,220],crimson:[220,20,60],cyan:[0,255,255],darkblue:[0,0,139],darkcyan:[0,139,139],darkgoldenrod:[184,134,11],darkgray:[169,169,169],darkgreen:[0,100,0],darkgrey:[169,169,169],darkkhaki:[189,183,107],darkmagenta:[139,0,139],darkolivegreen:[85,107,47],darkorange:[255,140,0],darkorchid:[153,50,204],darkred:[139,0,0],darksalmon:[233,150,122],darkseagreen:[143,188,143],darkslateblue:[72,61,139],darkslategray:[47,79,79],darkslategrey:[47,79,79],darkturquoise:[0,206,209],darkviolet:[148,0,211],deeppink:[255,20,147],deepskyblue:[0,191,255],dimgray:[105,105,105],dimgrey:[105,105,105],dodgerblue:[30,144,255],firebrick:[178,34,34],floralwhite:[255,250,240],forestgreen:[34,139,34],fuchsia:[255,0,255],gainsboro:[220,220,220],ghostwhite:[248,248,255],gold:[255,215,0],goldenrod:[218,165,32],gray:[128,128,128],green:[0,128,0],greenyellow:[173,255,47],grey:[128,128,128],honeydew:[240,255,240],hotpink:[255,105,180],indianred:[205,92,92],indigo:[75,0,130],ivory:[255,255,240],khaki:[240,230,140],lavender:[230,230,250],lavenderblush:[255,240,245],lawngreen:[124,252,0],lemonchiffon:[255,250,205],lightblue:[173,216,230],lightcoral:[240,128,128],lightcyan:[224,255,255],lightgoldenrodyellow:[250,250,210],lightgray:[211,211,211],lightgreen:[144,238,144],lightgrey:[211,211,211],lightpink:[255,182,193],lightsalmon:[255,160,122],lightseagreen:[32,178,170],lightskyblue:[135,206,250],lightslategray:[119,136,153],lightslategrey:[119,136,153],lightsteelblue:[176,196,222],lightyellow:[255,255,224],lime:[0,255,0],limegreen:[50,205,50],linen:[250,240,230],magenta:[255,0,255],maroon:[128,0,0],mediumaquamarine:[102,205,170],mediumblue:[0,0,205],mediumorchid:[186,85,211],mediumpurple:[147,112,219],mediumseagreen:[60,179,113],mediumslateblue:[123,104,238],mediumspringgreen:[0,250,154],mediumturquoise:[72,209,204],mediumvioletred:[199,21,133],midnightblue:[25,25,112],mintcream:[245,255,250],mistyrose:[255,228,225],moccasin:[255,228,181],navajowhite:[255,222,173],navy:[0,0,128],oldlace:[253,245,230],olive:[128,128,0],olivedrab:[107,142,35],orange:[255,165,0],orangered:[255,69,0],orchid:[218,112,214],palegoldenrod:[238,232,170],palegreen:[152,251,152],paleturquoise:[175,238,238],palevioletred:[219,112,147],papayawhip:[255,239,213],peachpuff:[255,218,185],peru:[205,133,63],pink:[255,192,203],plum:[221,160,221],powderblue:[176,224,230],purple:[128,0,128],rebeccapurple:[102,51,153],red:[255,0,0],rosybrown:[188,143,143],royalblue:[65,105,225],saddlebrown:[139,69,19],salmon:[250,128,114],sandybrown:[244,164,96],seagreen:[46,139,87],seashell:[255,245,238],sienna:[160,82,45],silver:[192,192,192],skyblue:[135,206,235],slateblue:[106,90,205],slategray:[112,128,144],slategrey:[112,128,144],snow:[255,250,250],springgreen:[0,255,127],steelblue:[70,130,180],tan:[210,180,140],teal:[0,128,128],thistle:[216,191,216],tomato:[255,99,71],turquoise:[64,224,208],violet:[238,130,238],wheat:[245,222,179],white:[255,255,255],whitesmoke:[245,245,245],yellow:[255,255,0],yellowgreen:[154,205,50]}},{}],140:[function(t,e,i){var 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