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Merge branch 'master' into motorslider

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This commit is contained in:
Sam El-Husseini 2018-01-10 12:52:51 -08:00
commit 10cd39a4ec
10 changed files with 22 additions and 27 deletions
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5
libs/chassis/_locales/chassis-jsdoc-strings.json
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@ -1,12 +1,9 @@
{
"chassis.Chassis": "A differential drive robot",
"chassis.Chassis.drive": "Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)\nusing a unicycle model.",
"chassis.Chassis.driveFor": "Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)\nusing a unicycle model.",
"chassis.Chassis.driveFor|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
"chassis.Chassis.driveFor|param|speed": "speed of the center point between motors, eg: 10",
"chassis.Chassis.driveFor|param|value": "the amount of movement, eg: 2",
"chassis.Chassis.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
"chassis.Chassis.drive|param|speed": "speed of the center point between motors, eg: 10",
"chassis.Chassis.drive|param|value": "the amount of movement, eg: 2",
"chassis.Chassis.setMotors": "Sets the motors used by the chassis, default is B+C",
"chassis.Chassis.setProperty": "Sets a property of the robot",
"chassis.Chassis.setProperty|param|property": "the property to set",

1
libs/chassis/_locales/chassis-strings.json
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@ -1,7 +1,6 @@
{
"ChassisProperty.BaseLength|block": "base length (cm)",
"ChassisProperty.WheelRadius|block": "wheel radius (cm)",
"chassis.Chassis.driveFor|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
"chassis.Chassis.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s",
"chassis.Chassis.setMotors|block": "set %chassis|motors to %motors",
"chassis.Chassis.setProperty|block": "set %chassis|%property|to %value",

19
libs/chassis/chassis.ts
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@ -24,19 +24,6 @@ namespace chassis {
this.baseLength = 12;
}
/**
* Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)
* using a unicycle model.
* @param speed speed of the center point between motors, eg: 10
* @param rotationSpeed rotation of the robot around the center point, eg: 30
*/
//% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s"
//% inlineInputMode=inline
//% weight=99 blockGap=8
drive(speed: number, rotationSpeed: number) {
this.driveFor(speed, rotationSpeed, 0, MoveUnit.Degrees);
}
/**
* Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)
* using a unicycle model.
@ -45,10 +32,10 @@ namespace chassis {
* @param value the amount of movement, eg: 2
* @param unit
*/
//% blockId=motorDriveFor block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit"
//% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s"
//% inlineInputMode=inline
//% weight=95 blockGap=8
driveFor(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
drive(speed: number, rotationSpeed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
// speed is expressed in %
const R = this.wheelRadius; // cm
const L = this.baseLength; // cm
@ -65,7 +52,7 @@ namespace chassis {
const sr = vr / maxw * 100; // %
const sl = vl / maxw * 100; // %
this.motors.tankFor(sr, sl, value, unit)
this.motors.tank(sr, sl, value, unit)
}
/**

2
libs/color-sensor/_locales/color-sensor-strings.json
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@ -19,7 +19,7 @@
"sensors.ColorSensor.onLightChanged|block": "on %sensor|%mode|%condition",
"sensors.ColorSensor.pauseForColor|block": "pause %sensor|for color %color",
"sensors.ColorSensor.pauseForLight|block": "pause %sensor|for %mode|%condition",
"sensors.ColorSensor.setThreshold|block": "set %condition|to %value",
"sensors.ColorSensor.setThreshold|block": "set %sensor|%condition|to %value",
"sensors.color1|block": "color 1",
"sensors.color2|block": "color 2",
"sensors.color3|block": "color 3",

3
libs/color-sensor/color.ts
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@ -227,8 +227,9 @@ namespace sensors {
* @param condition the dark or bright light condition
* @param value the value threshold
*/
//% blockId=colorSetThreshold block="set %condition|to %value"
//% blockId=colorSetThreshold block="set %sensor|%condition|to %value"
//% group="Threshold" blockGap=8 weight=90
//% value.min=0 value.max=100
setThreshold(condition: LightCondition, value: number) {
if (condition == LightCondition.Dark)
this.thresholdDetector.setLowThreshold(value)

9
libs/core/output.ts
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@ -216,10 +216,17 @@ namespace motors {
setSpeed(speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0);
// stop if speed is 0
if (!speed) {
this.stop();
return;
}
// special: 0 is infinity
if (value == 0) {
this._setSpeed(speed);
return;
}
// timed motor moves
let useSteps: boolean;
let stepsOrTime: number;
switch (unit) {
@ -242,6 +249,8 @@ namespace motors {
}
this._move(useSteps, stepsOrTime, speed);
// wait till motor is done with this work
this.pauseUntilReady();
}
/**

2
libs/infrared-sensor/_locales/infrared-sensor-strings.json
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@ -5,7 +5,7 @@
"sensors.InfraredSensor.pauseUntil|block": "pause until %sensor| %event",
"sensors.InfraredSensor.proximity|block": "%sensor|proximity",
"sensors.InfraredSensor.remoteCommand|block": "%sensor|remote command",
"sensors.InfraredSensor.setThreshold|block": "set %condition|to %value",
"sensors.InfraredSensor.setThreshold|block": "set %sensor|%condition|to %value",
"sensors.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed",
"sensors.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event",
"sensors.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed",

3
libs/infrared-sensor/ir.ts
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@ -257,8 +257,9 @@ namespace sensors {
* @param condition the dark or bright light condition
* @param value the value threshold
*/
//% blockId=irSetThreshold block="set %condition|to %value"
//% blockId=irSetThreshold block="set %sensor|%condition|to %value"
//% group="Threshold" blockGap=8
//% value.min=0 value.max=100
setThreshold(condition: InfraredSensorEvent, value: number) {
if (condition == InfraredSensorEvent.ObjectNear)
this.proximityThreshold.setLowThreshold(value)

2
libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
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@ -5,7 +5,7 @@
"sensors.UltraSonicSensor.distance|block": "%sensor|distance",
"sensors.UltraSonicSensor.onEvent|block": "on %sensor|%event",
"sensors.UltraSonicSensor.pauseUntil|block": "pause until %sensor| %event",
"sensors.UltraSonicSensor.setThreshold|block": "set %condition|to %value",
"sensors.UltraSonicSensor.setThreshold|block": "set %sensor|%condition|to %value",
"sensors.ultrasonic1|block": "ultrasonic 1",
"sensors.ultrasonic2|block": "ultrasonic 2",
"sensors.ultrasonic3|block": "ultrasonic 3",

3
libs/ultrasonic-sensor/ultrasonic.ts
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@ -92,8 +92,9 @@ namespace sensors {
* @param condition the dark or bright light condition
* @param value the value threshold
*/
//% blockId=ultrasonicSetThreshold block="set %condition|to %value"
//% blockId=ultrasonicSetThreshold block="set %sensor|%condition|to %value"
//% group="Threshold" blockGap=8
//% value.min=0 value.max=255
setThreshold(condition: UltrasonicSensorEvent, value: number) {
switch(condition) {
case UltrasonicSensorEvent.ObjectNear: this.promixityThreshold.setLowThreshold(value); break;