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update motor support and add demo

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This commit is contained in:
Matthias L. Jugel
2016-11-10 13:48:20 +01:00
parent 51e64bd82d
commit 9c3236de80
6 changed files with 136 additions and 108 deletions
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30
libs/core/motors.cpp
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@ -22,45 +22,45 @@ enum Motor {
//% color=#008272 weight=30
namespace motors {
/**
* Turns on the motor at a certain percent of power.
* Turns on the motor at a certain percent of power. Switches to single motor mode!
* @param power %percent of power sent to the motor. Negative power goes backward. eg: 50
*/
//% blockId=motor_on block="motor on at %percent"
//% parts=dcmotor weight=90 blockGap=8
void motorPower(int power) {
uBit.soundmotor.Motor_On(power);
uBit.soundmotor.motorOn(power);
}
/**
* Send break, coast or sleep commands to the motor
* Send break, coast or sleep commands to the motor. Has no effect in dual-motor mode.
*/
//% blockId=motor_command block="motor %command"
//% parts=dcmotor weight=85
void motorCommand(MotorCommand command) {
switch(command) {
case MotorCommand::Coast: uBit.soundmotor.Motor_Coast();break;
case MotorCommand::Break: uBit.soundmotor.Motor_Break();break;
case MotorCommand::Sleep: uBit.soundmotor.Motor_Sleep();break;
case MotorCommand::Coast: uBit.soundmotor.motorCoast();break;
case MotorCommand::Break: uBit.soundmotor.motorBreak();break;
case MotorCommand::Sleep: uBit.soundmotor.motorSleep();break;
}
}
/**
* Controls two motors attached to the board.
* Controls two motors attached to the board. Switches to dual-motor mode!
*/
//% blockId=block_dual_motor block="motor %motor|at %percent"
//% weight=80
void dualMotorPower(Motor motor, int duty_percent) {
switch(motor) {
case Motor::A: if (duty_percent <= 0) uBit.soundmotor.MotorA_Off();
else uBit.soundmotor.MotorA_On(duty_percent); break;
case Motor::B: if (duty_percent <= 0) uBit.soundmotor.MotorB_Off();
else uBit.soundmotor.MotorB_On(duty_percent); break;
case Motor::A: if (duty_percent <= 0) uBit.soundmotor.motorAOff();
else uBit.soundmotor.motorAOn(duty_percent); break;
case Motor::B: if (duty_percent <= 0) uBit.soundmotor.motorBOff();
else uBit.soundmotor.motorBOn(duty_percent); break;
case Motor::AB: if (duty_percent <= 0) {
uBit.soundmotor.MotorA_Off();
uBit.soundmotor.MotorB_Off();
uBit.soundmotor.motorAOff();
uBit.soundmotor.motorBOff();
} else {
uBit.soundmotor.MotorA_On(duty_percent);
uBit.soundmotor.MotorB_On(duty_percent);
uBit.soundmotor.motorAOn(duty_percent);
uBit.soundmotor.motorBOn(duty_percent);
}
break;
}