<commit_before>import protocol from '../src/protocolDefinitions'
import MRIL from './MRIL'
import MRCP from './MRCP'

export default class MRIB {
  constructor(MRCL) {
    this.X = this.Y = this.Z = this.A = this.B = this.C = 0
    this.VELOCITY = 10
    this.MOVEMENT_METHOD = '00'

    this.MRCL = MRCL
    this.mrcpCommand = protocol.MRCP.EXECUTE
  }

  queue() {
    this.mrcpCommand = protocol.MRCP.QUEUE_IN
    return this
  }

  execute() {
    this.mrcpCommand = protocol.MRCP.EXECUTE
    return this
  }

  write() {
    this.mrcpCommand = protocol.MRCP.WRITE
    return this
  }

  setVelocity(v) {
    this.VELOCITY = v
    return this
  }

  setMovementMethod(M) {
    this.MOVEMENT_METHOD = M
  }

  pose(A, B, C, cb) {
    this.move(this.X, this.Y, this.Z, A, B, C, cb)<commit_msg>feat(MRIB): clear queue added<commit_after>import protocol from '../src/protocolDefinitions'
import MRIL from './MRIL'
import MRCP from './MRCP'

export default class MRIB {
  constructor(MRCL) {
    this.X = this.Y = this.Z = this.A = this.B = this.C = 0
    this.VELOCITY = 10
    this.MOVEMENT_METHOD = '00'

    this.MRCL = MRCL
    this.mrcpCommand = protocol.MRCP.EXECUTE
  }

  queue() {
    this.mrcpCommand = protocol.MRCP.QUEUE_IN
    return this
  }

  clearQueue(cb) {
    const mril = new MRIL()
    if (cb) {
      mril.onExecuted(cb)
    }
    const mrcp = new MRCP(this.mrcpCommand, mril)

    this.MRCL.send(mrcp)

    return this
  }

  execute() {
    this.mrcpCommand = protocol.MRCP.EXECUTE
    return this
  }

  write() {
    this.mrcpCommand = protocol.MRCP.WRITE
    return this
  }

  setVelocity(v) {
    this.VELOCITY = v
    return this
  }

  setMovementMethod(M) {
    this.MOVEMENT_METHOD = M
  }

  pose(A, B, C, cb) {
    this.move(this.X, this.Y, this.Z, A, B, C, cb)
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