pxt-calliope/sim/state/microservo.ts

namespace pxsim.visuals {
    function createMicroServoElement() {
        return svg.parseString(`
        <svg xmlns="http://www.w3.org/2000/svg" id="svg2" width="112.188" height="299.674">
          <g id="layer1" stroke-linecap="round" stroke-linejoin="round" transform="scale(0.8)">
            <path id="path8212" fill="#0061ff" stroke-width="6.6" d="M.378 44.61v255.064h112.188V44.61H.378z"/>
            <path id="crankbase" fill="#00f" stroke-width="6.6" d="M56.57 88.047C25.328 88.047 0 113.373 0 144.615c.02 22.352 11.807 42.596 32.238 51.66.03 3.318.095 5.24.088 7.938 0 13.947 11.307 25.254 25.254 25.254 13.947 0 25.254-11.307 25.254-25.254-.006-2.986-.415-5.442-.32-8.746 19.487-9.45 30.606-29.195 30.625-50.852 0-31.24-25.33-56.568-56.57-56.568z"/>
            <path id="lowertip" fill="#00a2ff" stroke-width="2" d="M.476 260.78v38.894h53.82v-10.486a6.82 6.566 0 0 1-4.545-6.182 6.82 6.566 0 0 1 6.82-6.566 6.82 6.566 0 0 1 6.82 6.566 6.82 6.566 0 0 1-4.545 6.182v10.486h53.82V260.78H.475z"/>
            <path id="uppertip" fill="#00a2ff" stroke-width="2" d="M112.566 83.503V44.61h-53.82v10.487a6.82 6.566 0 0 1 4.544 6.18 6.82 6.566 0 0 1-6.818 6.568 6.82 6.566 0 0 1-6.82-6.567 6.82 6.566 0 0 1 4.546-6.18V44.61H.378v38.893h112.188z"/>
            <path id="VCC" fill="red" stroke-width="2" d="M53.72 21.93h5.504v22.627H53.72z"/>
            <path id="LOGIC" fill="#fc0" stroke-width="2" d="M47.3 21.93h5.503v22.627H47.3z"/>
            <path id="GND" fill="#a02c2c" stroke-width="2" d="M60.14 21.93h5.505v22.627H60.14z"/>
            <path id="connector" stroke-width="2" d="M45.064 0a1.488 1.488 0 0 0-1.488 1.488v24.5a1.488 1.488 0 0 0 1.488 1.487h22.71a1.488 1.488 0 0 0 1.49-1.488v-24.5A1.488 1.488 0 0 0 67.774 0h-22.71z"/>
            <g id="crank" transform="translate(0 -752.688)">
              <path id="arm" fill="#ececec" stroke="#000" stroke-width="1.372" d="M47.767 880.88c-4.447 1.162-8.412 8.278-8.412 18.492s3.77 18.312 8.412 18.494c8.024.314 78.496 5.06 78.51-16.952.012-22.013-74.377-21.117-78.51-20.035z"/>
              <circle id="path8216" cx="56.661" cy="899.475" r="8.972" fill="gray" stroke-width="2"/>
            </g>
          </g>
        </svg>
                    `).firstElementChild as SVGGElement;
    }

    export function mkMicroServoPart(xy: Coord = [0, 0]): SVGElAndSize {
        return { el: createMicroServoElement(), x: xy[0], y: xy[1], w: 112.188, h: 299.674 };
    }

    const SPEED = 300; // 0.1s/60 degree
    export class MicroServoView implements IBoardPart<EdgeConnectorState> {
        public style: string = "";
        public overElement: SVGElement = undefined;
        public element: SVGElement;
        public defs: SVGElement[] = [];
        public state: EdgeConnectorState;
        public bus: EventBus;
        private currentAngle = 0;
        private targetAngle = 0;
        private lastAngleTime = 0;
        private pin: number;

        private crankEl: SVGGElement;
        private crankTransform: string;

        public init(bus: EventBus, state: EdgeConnectorState, svgEl: SVGSVGElement, otherParams: Map<string>) {
            this.state = state;
            this.pin = this.state.props.servos[
                pxsim.readPin(otherParams["name"] || otherParams["pin"])
            ];
            this.bus = bus;
            this.defs = [];
            this.initDom();
            this.updateState();
        }

        initDom() {
            this.element = createMicroServoElement();
            this.crankEl = this.element.querySelector("#crank") as SVGGElement;
            this.crankTransform = this.crankEl.getAttribute("transform");
        }

        moveToCoord(xy: visuals.Coord): void {
            let [x, y] = xy;
            translateEl(this.element, [x, y])
        }
        updateState(): void {
            const p = this.state.getPin(this.pin);
            const continuous = !!p.servoContinuous;
            const servoAngle = p.servoAngle;
            if (continuous) {
                // for a continuous servo, the angle is interpreted as a rotation speed
                // 0 -> -100%, 90 - 0%, 180 - 100%
                const now = U.now();
                const dt = Math.min(now - this.lastAngleTime, 50) / 1000;
                this.currentAngle = this.targetAngle;
                this.targetAngle += ((servoAngle - 90) / 90) * SPEED * dt;
            } else {
                this.targetAngle = 180.0 - servoAngle;
            }
            if (this.targetAngle != this.currentAngle)
                this.renderAngle();
        }

        private renderAngle() {
            const now = U.now();
            const cx = 56.661;
            const cy = 899.475;
            const dt = Math.min(now - this.lastAngleTime, 50) / 1000;
            const delta = this.targetAngle - this.currentAngle;
            this.currentAngle += Math.min(Math.abs(delta), SPEED * dt) * (delta > 0 ? 1 : -1);
            this.crankEl.setAttribute("transform", this.crankTransform
                + ` rotate(${this.currentAngle}, ${cx}, ${cy})`)
            this.lastAngleTime = now;
            setTimeout(() => runtime.updateDisplay(), 20);
        }

        updateTheme(): void {

        }
    }
}