PID support (#242)

* updated block definitions

* updated dependency on common packages

libs/automation/_locales/automation-jsdoc-strings.json

@@ -0,0 +1,25 @@
+{
+  "automation": "Automation, process control and robotic controllers\r\n\nProcess control, automation, robotics AI",
+  "automation.Behavior": "A behavior",
+  "automation.Behavior.update": "Called on each behavior iteration even for suppresed behaviors",
+  "automation.Behavior.update|param|elapsed": "milli seconds since last call",
+  "automation.BehaviorManager": "A manager for behaviors",
+  "automation.BehaviorManager.add": "Adds a new behavior to the behavior manager",
+  "automation.BehaviorManager.add|param|behavior": "the behavior to add",
+  "automation.BehaviorManager.start": "Starts the behavior control loop",
+  "automation.BehaviorManager.stop": "Stops the execution loop",
+  "automation.PIDController.compute": "Computes the output based on the system state",
+  "automation.PIDController.setControlSaturation": "Sets the control saturation values",
+  "automation.PIDController.setControlSaturation|param|high": "highest control value, eg: 100",
+  "automation.PIDController.setControlSaturation|param|low": "lowest control value, eg: -100",
+  "automation.PIDController.setDerivativeFilter": "Sets the derivative filter gain",
+  "automation.PIDController.setDerivativeFilter|param|N": "the filter gain, eg:10",
+  "automation.PIDController.setGains": "Sets the PID gains",
+  "automation.PIDController.setGains|param|b": "setpoint weight, eg: 0.9",
+  "automation.PIDController.setGains|param|kd": "derivative gain",
+  "automation.PIDController.setGains|param|ki": "integral gain",
+  "automation.PIDController.setGains|param|kp": "proportional gain",
+  "automation.PIDController.setPoint": "Updates the desired setpoint",
+  "automation.addBehavior": "Adds the behavior and starts it",
+  "automation.addBehavior|param|behavior": "a behavior"
+}

libs/automation/_locales/automation-strings.json

@@ -0,0 +1,12 @@
+{
+  "automation.PIDController.compute|block": "%pid|compute for timestep %timestep|(s) at state %y",
+  "automation.PIDController.setControlSaturation|block": "set %pid|control saturation from %low|to %high",
+  "automation.PIDController.setDerivativeFilter|block": "set %pid|derivative filter %N",
+  "automation.PIDController.setGains|block": "set %pid|gains kp %kp|ki %ki|kd %kd",
+  "automation.PIDController.setPoint|block": "set %pid|point to %ysp",
+  "automation.addBehavior|block": "add behavior %behavior",
+  "automation|block": "automation",
+  "{id:category}Automation": "Automation",
+  "{id:group}Behaviors": "Behaviors",
+  "{id:group}PID": "PID"
+}

libs/automation/pxt.json

@@ -1,6 +1,6 @@
 {
-    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/behaviors",
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/automation",
     "dependencies": {
-        "core": "file:../ev3"
+        "ev3": "file:../ev3"
     }
 }

libs/behaviors/_locales/behaviors-jsdoc-strings.json

@@ -1,14 +0,0 @@
-{
-  "behaviors": "Behavior drive blocks",
-  "behaviors.Behavior": "A behavior",
-  "behaviors.BehaviorManager": "A manager for behaviors",
-  "behaviors.BehaviorManager.add": "Adds a new behavior to the behavior manager",
-  "behaviors.BehaviorManager.add|param|behavior": "the behavior to add",
-  "behaviors.BehaviorManager.start": "Starts the behavior control loop",
-  "behaviors.BehaviorManager.stop": "Stops the execution loop",
-  "behaviors.addBehavior": "Adds the behavior and starts it",
-  "behaviors.addBehavior|param|behavior": "a behavior",
-  "behaviors.avoidCrash": "A behavior that stops all motors if the sensor distance get too short",
-  "behaviors.driveForward": "A behavior that turns on the motors to the specified speed",
-  "behaviors.driveForward|param|motors": "@param speed the desired speed, eg: 50"
-}

libs/behaviors/_locales/behaviors-strings.json

@@ -1,7 +0,0 @@
-{
-  "behaviors.addBehavior|block": "add behavior %behavior",
-  "behaviors.avoidCrash|block": "avoid crash using %ultrasonic",
-  "behaviors.driveForward|block": "drive %motors|forward at %speed=motorSpeedPicker|%",
-  "behaviors|block": "behaviors",
-  "{id:category}Behaviors": "Behaviors"
-}

libs/behaviors/targetoverrides.ts

@@ -1,56 +0,0 @@
-namespace behaviors {
-    class AvoidCrashBehavior extends behaviors.Behavior {
-        private ultrasonic: sensors.UltraSonicSensor;
-        constructor(ultrasonic: sensors.UltraSonicSensor) {
-            super();
-            this.ultrasonic = ultrasonic;
-        }
-
-        shouldRun(): boolean {
-            return this.ultrasonic.distance() < 5;
-        }
-
-        run(): void {
-            motors.stopAllMotors();
-            this.active = false;
-        }
-    }
-
-    /**
-     * A behavior that stops all motors if the sensor distance get too short
-     */
-    //% blockId=behaviorsAvoidCrash block="avoid crash using %ultrasonic"
-    export function avoidCrash(ultrasonic: sensors.UltraSonicSensor) : behaviors.Behavior {
-        return new AvoidCrashBehavior(ultrasonic);
-    }
-
-    class DriveForwardBehavior extends behaviors.Behavior {
-        private motors: motors.MotorBase;
-        private speed: number;
-        constructor(motors: motors.MotorBase, speed: number) {
-            super();
-            this.motors = motors;
-            this.speed = speed;
-        }
-
-        shouldRun(): boolean { 
-            return true;
-        }
-
-        run(): void {
-            this.motors.setSpeed(this.speed);
-            pauseUntil(() => !this.active);
-            this.motors.setSpeed(0);
-        }
-    }
-
-    /**
-     * A behavior that turns on the motors to the specified speed
-     * @param motors 
-     * @param speed the desired speed, eg: 50
-     */
-    //% blockId=behaviorsDriveForward block="drive %motors|forward at %speed=motorSpeedPicker|%"
-    export function driveForward(motors: motors.MotorBase, speed: number): behaviors.Behavior {
-        return new DriveForwardBehavior(motors, speed);
-    }
-}

package.json

@@ -44,7 +44,7 @@
     "webfonts-generator": "^0.4.0"
   },
   "dependencies": {
-    "pxt-common-packages": "0.15.6",
+    "pxt-common-packages": "0.15.7",
     "pxt-core": "3.0.11"
   },
   "scripts": {

pxtarget.json

@@ -21,7 +21,7 @@
         "libs/storage",
         "libs/datalog",
         "libs/tests",
-        "libs/behaviors"
+        "libs/automation"
     ],
     "simulator": {
         "autoRun": true,