From 0dd5ab9bde21581943ef00bc84bd8d0e4c1321a3 Mon Sep 17 00:00:00 2001 From: Peli de Halleux Date: Wed, 10 Jan 2018 14:08:50 -0800 Subject: [PATCH] appliying manual speed --- sim/state/motornode.ts | 150 +++++++++++++++++++++-------------------- 1 file changed, 78 insertions(+), 72 deletions(-) diff --git a/sim/state/motornode.ts b/sim/state/motornode.ts index 1da46892..1abab33b 100644 --- a/sim/state/motornode.ts +++ b/sim/state/motornode.ts @@ -17,6 +17,8 @@ namespace pxsim { private speedCmdTime: number; private _synchedMotor: MotorNode; // non-null if synchronized + private manualSpeed: number = 0; + constructor(port: number, large: boolean) { super(port); this.setLarge(large); @@ -42,7 +44,7 @@ namespace pxsim { setSpeedCmd(cmd: DAL, values: number[]) { if (this.speedCmd != cmd || JSON.stringify(this.speedCmdValues) != JSON.stringify(values)) - this.setChangedState(); + this.setChangedState(); // new command TODO: values this.speedCmd = cmd; this.speedCmdValues = values; @@ -97,15 +99,14 @@ namespace pxsim { } manualMotorDown() { - } - manualMotorMove(angle: number) { - + manualMotorMove(speed: number) { + this.manualSpeed = speed; } manualMotorUp() { - + this.manualSpeed = undefined; } updateState(elapsed: number) { @@ -121,79 +122,84 @@ namespace pxsim { } private updateStateStep(elapsed: number) { - // compute new speed - switch (this.speedCmd) { - case DAL.opOutputSpeed: - case DAL.opOutputPower: - // assume power == speed - // TODO: PID - this.speed = this.speedCmdValues[0]; - break; - case DAL.opOutputTimeSpeed: - case DAL.opOutputTimePower: - case DAL.opOutputStepPower: - case DAL.opOutputStepSpeed: { - // ramp up, run, ramp down, using time - const speed = this.speedCmdValues[0]; - const step1 = this.speedCmdValues[1]; - const step2 = this.speedCmdValues[2]; - const step3 = this.speedCmdValues[3]; - const brake = this.speedCmdValues[4]; - const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed) - ? pxsim.U.now() - this.speedCmdTime - : this.tacho - this.speedCmdTacho; - if (dstep < step1) // rampup - this.speed = speed * dstep / step1; - else if (dstep < step1 + step2) // run - this.speed = speed; - else if (dstep < step1 + step2 + step3) - this.speed = speed * (step1 + step2 + step3 - dstep) / (step1 + step2 + step3); - else { - if (brake) this.speed = 0; - this.clearSpeedCmd(); - } - break; - } - case DAL.opOutputStepSync: - case DAL.opOutputTimeSync: { - const otherMotor = this._synchedMotor; - if (otherMotor.port < this.port) // handled in other motor code + if (!this.manualSpeed) { + // compute new speed + switch (this.speedCmd) { + case DAL.opOutputSpeed: + case DAL.opOutputPower: + // assume power == speed + // TODO: PID + this.speed = this.speedCmdValues[0]; + break; + case DAL.opOutputTimeSpeed: + case DAL.opOutputTimePower: + case DAL.opOutputStepPower: + case DAL.opOutputStepSpeed: { + // ramp up, run, ramp down, using time + const speed = this.speedCmdValues[0]; + const step1 = this.speedCmdValues[1]; + const step2 = this.speedCmdValues[2]; + const step3 = this.speedCmdValues[3]; + const brake = this.speedCmdValues[4]; + const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed) + ? pxsim.U.now() - this.speedCmdTime + : this.tacho - this.speedCmdTacho; + if (dstep < step1) // rampup + this.speed = speed * dstep / step1; + else if (dstep < step1 + step2) // run + this.speed = speed; + else if (dstep < step1 + step2 + step3) + this.speed = speed * (step1 + step2 + step3 - dstep) / (step1 + step2 + step3); + else { + if (brake) this.speed = 0; + this.clearSpeedCmd(); + } break; - - const speed = this.speedCmdValues[0]; - const turnRatio = this.speedCmdValues[1]; - const stepsOrTime = this.speedCmdValues[2]; - const brake = this.speedCmdValues[3]; - const dstep = this.speedCmd == DAL.opOutputTimeSync - ? pxsim.U.now() - this.speedCmdTime - : this.tacho - this.speedCmdTacho; - // 0 is special case, run infinite - if (!stepsOrTime || dstep < stepsOrTime) - this.speed = speed; - else { - if (brake) this.speed = 0; - this.clearSpeedCmd(); } + case DAL.opOutputStepSync: + case DAL.opOutputTimeSync: { + const otherMotor = this._synchedMotor; + if (otherMotor.port < this.port) // handled in other motor code + break; - // turn ratio is a bit weird to interpret - // see https://communities.theiet.org/blogs/698/1706 - if (turnRatio < 0) { - otherMotor.speed = speed; - this.speed *= (100 + turnRatio) / 100; - } else { - otherMotor.speed = this.speed * (100 - turnRatio) / 100; + const speed = this.speedCmdValues[0]; + const turnRatio = this.speedCmdValues[1]; + const stepsOrTime = this.speedCmdValues[2]; + const brake = this.speedCmdValues[3]; + const dstep = this.speedCmd == DAL.opOutputTimeSync + ? pxsim.U.now() - this.speedCmdTime + : this.tacho - this.speedCmdTacho; + // 0 is special case, run infinite + if (!stepsOrTime || dstep < stepsOrTime) + this.speed = speed; + else { + if (brake) this.speed = 0; + this.clearSpeedCmd(); + } + + // turn ratio is a bit weird to interpret + // see https://communities.theiet.org/blogs/698/1706 + if (turnRatio < 0) { + otherMotor.speed = speed; + this.speed *= (100 + turnRatio) / 100; + } else { + otherMotor.speed = this.speed * (100 - turnRatio) / 100; + } + + // clamp + this.speed = Math.max(-100, Math.min(100, this.speed >> 0)); + otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));; + + // stop other motor if needed + if (!this._synchedMotor) + otherMotor.clearSpeedCmd(); + break; } - - // clamp - this.speed = Math.max(-100, Math.min(100, this.speed >> 0)); - otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));; - - // stop other motor if needed - if (!this._synchedMotor) - otherMotor.clearSpeedCmd(); - break; } } + else { + this.speed = this.manualSpeed; + } this.speed = Math.round(this.speed); // integer only // compute delta angle