PID support (#242)
* updated block definitions * updated dependency on common packages
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Peli de Halleux
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libs/automation/_locales/automation-jsdoc-strings.json
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25
libs/automation/_locales/automation-jsdoc-strings.json
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{
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"automation": "Automation, process control and robotic controllers\r\n\nProcess control, automation, robotics AI",
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"automation.Behavior": "A behavior",
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"automation.Behavior.update": "Called on each behavior iteration even for suppresed behaviors",
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"automation.Behavior.update|param|elapsed": "milli seconds since last call",
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"automation.BehaviorManager": "A manager for behaviors",
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"automation.BehaviorManager.add": "Adds a new behavior to the behavior manager",
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"automation.BehaviorManager.add|param|behavior": "the behavior to add",
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"automation.BehaviorManager.start": "Starts the behavior control loop",
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"automation.BehaviorManager.stop": "Stops the execution loop",
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"automation.PIDController.compute": "Computes the output based on the system state",
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"automation.PIDController.setControlSaturation": "Sets the control saturation values",
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"automation.PIDController.setControlSaturation|param|high": "highest control value, eg: 100",
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"automation.PIDController.setControlSaturation|param|low": "lowest control value, eg: -100",
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"automation.PIDController.setDerivativeFilter": "Sets the derivative filter gain",
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"automation.PIDController.setDerivativeFilter|param|N": "the filter gain, eg:10",
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"automation.PIDController.setGains": "Sets the PID gains",
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"automation.PIDController.setGains|param|b": "setpoint weight, eg: 0.9",
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"automation.PIDController.setGains|param|kd": "derivative gain",
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"automation.PIDController.setGains|param|ki": "integral gain",
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"automation.PIDController.setGains|param|kp": "proportional gain",
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"automation.PIDController.setPoint": "Updates the desired setpoint",
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"automation.addBehavior": "Adds the behavior and starts it",
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"automation.addBehavior|param|behavior": "a behavior"
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}
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12
libs/automation/_locales/automation-strings.json
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12
libs/automation/_locales/automation-strings.json
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{
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"automation.PIDController.compute|block": "%pid|compute for timestep %timestep|(s) at state %y",
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"automation.PIDController.setControlSaturation|block": "set %pid|control saturation from %low|to %high",
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"automation.PIDController.setDerivativeFilter|block": "set %pid|derivative filter %N",
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"automation.PIDController.setGains|block": "set %pid|gains kp %kp|ki %ki|kd %kd",
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"automation.PIDController.setPoint|block": "set %pid|point to %ysp",
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"automation.addBehavior|block": "add behavior %behavior",
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"automation|block": "automation",
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"{id:category}Automation": "Automation",
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"{id:group}Behaviors": "Behaviors",
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"{id:group}PID": "PID"
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}
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@ -1,6 +1,6 @@
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{
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"additionalFilePath": "../../node_modules/pxt-common-packages/libs/behaviors",
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"additionalFilePath": "../../node_modules/pxt-common-packages/libs/automation",
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"dependencies": {
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"core": "file:../ev3"
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"ev3": "file:../ev3"
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}
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}
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@ -1,14 +0,0 @@
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{
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"behaviors": "Behavior drive blocks",
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"behaviors.Behavior": "A behavior",
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"behaviors.BehaviorManager": "A manager for behaviors",
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"behaviors.BehaviorManager.add": "Adds a new behavior to the behavior manager",
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"behaviors.BehaviorManager.add|param|behavior": "the behavior to add",
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"behaviors.BehaviorManager.start": "Starts the behavior control loop",
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"behaviors.BehaviorManager.stop": "Stops the execution loop",
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"behaviors.addBehavior": "Adds the behavior and starts it",
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"behaviors.addBehavior|param|behavior": "a behavior",
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"behaviors.avoidCrash": "A behavior that stops all motors if the sensor distance get too short",
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"behaviors.driveForward": "A behavior that turns on the motors to the specified speed",
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"behaviors.driveForward|param|motors": "@param speed the desired speed, eg: 50"
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}
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{
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"behaviors.addBehavior|block": "add behavior %behavior",
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"behaviors.avoidCrash|block": "avoid crash using %ultrasonic",
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"behaviors.driveForward|block": "drive %motors|forward at %speed=motorSpeedPicker|%",
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"behaviors|block": "behaviors",
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"{id:category}Behaviors": "Behaviors"
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}
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@ -1,56 +0,0 @@
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namespace behaviors {
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class AvoidCrashBehavior extends behaviors.Behavior {
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private ultrasonic: sensors.UltraSonicSensor;
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constructor(ultrasonic: sensors.UltraSonicSensor) {
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super();
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this.ultrasonic = ultrasonic;
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}
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shouldRun(): boolean {
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return this.ultrasonic.distance() < 5;
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}
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run(): void {
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motors.stopAllMotors();
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this.active = false;
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}
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}
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/**
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* A behavior that stops all motors if the sensor distance get too short
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*/
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//% blockId=behaviorsAvoidCrash block="avoid crash using %ultrasonic"
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export function avoidCrash(ultrasonic: sensors.UltraSonicSensor) : behaviors.Behavior {
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return new AvoidCrashBehavior(ultrasonic);
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}
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class DriveForwardBehavior extends behaviors.Behavior {
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private motors: motors.MotorBase;
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private speed: number;
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constructor(motors: motors.MotorBase, speed: number) {
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super();
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this.motors = motors;
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this.speed = speed;
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}
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shouldRun(): boolean {
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return true;
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}
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run(): void {
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this.motors.setSpeed(this.speed);
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pauseUntil(() => !this.active);
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this.motors.setSpeed(0);
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}
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}
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/**
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* A behavior that turns on the motors to the specified speed
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* @param motors
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* @param speed the desired speed, eg: 50
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*/
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//% blockId=behaviorsDriveForward block="drive %motors|forward at %speed=motorSpeedPicker|%"
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export function driveForward(motors: motors.MotorBase, speed: number): behaviors.Behavior {
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return new DriveForwardBehavior(motors, speed);
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}
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}
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@ -44,7 +44,7 @@
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"webfonts-generator": "^0.4.0"
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},
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"dependencies": {
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"pxt-common-packages": "0.15.6",
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"pxt-common-packages": "0.15.7",
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"pxt-core": "3.0.11"
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},
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"scripts": {
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@ -21,7 +21,7 @@
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"libs/storage",
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"libs/datalog",
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"libs/tests",
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"libs/behaviors"
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"libs/automation"
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],
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"simulator": {
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"autoRun": true,
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