stop all motors

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

@@ -56,18 +56,24 @@
   "input.remoteButtonCenter": "Remote beacon (center) button.",
   "input.remoteButtonTopLeft": "Remote top-left button.",
   "input.remoteButtonTopRight": "Remote top-right button.",
+  "output.Motor.clearCount": "Clears the motor count",
+  "output.Motor.count": "Gets motor step count.",
   "output.Motor.on": "Power on or off the motor.",
+  "output.Motor.reset": "Resets the motor.",
   "output.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
   "output.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",
   "output.Motor.setPower": "Sets the motor power level from ``-100`` to ``100``.",
   "output.Motor.setPower|param|power": "the desired speed to use. eg: 50",
+  "output.Motor.setReversed": "Reverses the motor polarity",
   "output.Motor.speed": "Gets motor actual speed.",
+  "output.Motor.tachoCount": "Gets motor tacho count.",
   "output.createBuffer": "Create a new zero-initialized buffer.",
   "output.createBuffer|param|size": "number of bytes in the buffer",
   "output.pattern": "Pattern block.",
   "output.pattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
   "output.setStatusLight": "Set lights.",
   "output.setStatusLight|param|pattern": "the lights pattern to use.",
+  "output.stopAllMotors": "Stops all motors",
   "screen.clear": "Clear screen and reset font to normal.",
   "screen.doubleIcon": "Double size of an icon.",
   "screen.drawIcon": "Draw an icon on the screen.",

libs/core/_locales/core-strings.json

@@ -82,10 +82,13 @@
   "input.ultrasonic3|block": "ultrasonic sensor 3",
   "input.ultrasonic4|block": "ultrasonic sensor 4",
   "input|block": "input",
+  "output.Motor.count|block": "%motor|count",
   "output.Motor.on|block": "%motor|%onOrOff",
   "output.Motor.setBrake|block": "%motor|set brake %brake",
   "output.Motor.setPower|block": "%motor|set power to %speed",
+  "output.Motor.setReversed|block": "%motor|set reversed %reversed",
   "output.Motor.speed|block": "%motor|speed",
+  "output.Motor.tachoCount|block": "%motor|tacho count",
   "output.largeMotorA|block": "large motor A",
   "output.largeMotorB|block": "large motor B",
   "output.largeMotorC|block": "large motor C",
@@ -96,6 +99,7 @@
   "output.mediumMotorD|block": "medium motor D",
   "output.pattern|block": "%pattern",
   "output.setStatusLight|block": "set status light %pattern=led_pattern",
+  "output.stopAllMotors|block": "stop all motors",
   "output|block": "output",
   "screen.print|block": "print %text| at x: %x| y: %y",
   "screen.setPixel|block": "set pixel %on| at x: %x| y: %y",

libs/core/output.ts

@@ -63,6 +63,16 @@ namespace output {
         reset(Output.ALL)
     }
 
+    /**
+     * Stops all motors
+     */
+    //% blockId=motorStopAll block="stop all motors"
+    //% weight=10 group="Motors" blockGap=8
+    export function stopAllMotors() {
+        const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
+        writePWM(b)
+    }
+
     //% fixedInstances
     export class Motor extends control.Component {
         private port: Output;
@@ -82,8 +92,8 @@ namespace output {
          * @param power the motor power level from ``-100`` to ``100``, eg: 50
          */
         //% blockId=outputMotorOn block="%motor|%onOrOff"
-        //% weight=99 group="Motors" blockGap=8
         //% onOrOff.fieldEditor=toggleonoff
+        //% weight=99 group="Motors" blockGap=8
         on(onOrOff: boolean = true) {
             if (onOrOff) {
                 const b = mkCmd(this.port, DAL.opOutputStart, 0)
@@ -101,7 +111,7 @@ namespace output {
          * @param power the desired speed to use. eg: 50
          */
         //% blockId=motorSetPower block="%motor|set power to %speed"
-        //% weight=60 group="Motors" blockGap=8
+        //% weight=62 group="Motors" blockGap=8
         //% speed.min=-100 speed.max=100
         setPower(power: number) {
             const b = mkCmd(this.port, DAL.opOutputPower, 1)
@@ -115,20 +125,72 @@ namespace output {
          */
         //% blockId=outputMotorSetBrakeMode block="%motor|set brake %brake"
         //% brake.fieldEditor=toggleonoff
-        //% weight=60 group="Motors"
+        //% weight=60 group="Motors" blockGap=8
         setBrake(brake: boolean) {
             this.brake = brake;
         }
 
+        /** 
+         * Reverses the motor polarity
+        */
+        //% blockId=motorSetReversed block="%motor|set reversed %reversed"
+        //% reversed.fieldEditor=toggleonoff
+        //% weight=59 group="Motors"
+        setReversed(reversed: boolean) {
+            const b = mkCmd(this.port, DAL.opOutputPolarity, 1)
+            b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1);
+            writePWM(b)
+        }
+
         /**
          * Gets motor actual speed.
          * @param motor the port which connects to the motor
          */
         //% blockId=motorSpeed block="%motor|speed"
         //% weight=50 group="Motors" blockGap=8
-        speed() {
+        speed(): number {
             return getMotorData(this.port).actualSpeed;
         }
+
+        /**
+         * Gets motor step count.
+         * @param motor the port which connects to the motor
+         */
+        //% blockId=motorCount block="%motor|count"
+        //% weight=49 group="Motors" blockGap=8
+        count(): number {
+            return getMotorData(this.port).count;
+        }
+
+        /**
+         * Gets motor tacho count.
+         * @param motor the port which connects to the motor
+         */
+        //% blockId=motorTachoCount block="%motor|tacho count"
+        //% weight=48 group="Motors"
+        tachoCount(): number {
+            return getMotorData(this.port).tachoCount;
+        }
+
+        /**
+         * Clears the motor count
+         */
+        clearCount() {
+            const b = mkCmd(this.port, DAL.opOutputClearCount, 0)
+            writePWM(b)
+            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                if (this.port & (1 << i)) {
+                    motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
+                }
+            }
+        }
+
+        /**
+         * Resets the motor.
+         */
+        reset() {
+            reset(this.port);
+        }
     }
 
     //% whenUsed fixedInstance block="large motor A"
@@ -160,16 +222,6 @@ namespace output {
         writePWM(b)
     }
 
-    function clearCount(out: Output) {
-        let b = mkCmd(out, DAL.opOutputClearCount, 0)
-        writePWM(b)
-        for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
-            if (out & (1 << i)) {
-                motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
-            }
-        }
-    }
-
     function outOffset(out: Output) {
         for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
             if (out & (1 << i))
@@ -194,12 +246,6 @@ namespace output {
         }
     }
 
-    function setPolarity(out: Output, polarity: number) {
-        let b = mkCmd(out, DAL.opOutputPolarity, 1)
-        b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-1, 1, polarity))
-        writePWM(b)
-    }
-
     interface StepOptions {
         power?: number;
         speed?: number; // either speed or power has to be present