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sync command working

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This commit is contained in:
Peli de Halleux 2017-12-12 14:08:45 -08:00
parent 7557380722
commit 113b42656c
3 changed files with 36 additions and 3 deletions
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3
libs/core/_locales/core-jsdoc-strings.json
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@ -63,6 +63,9 @@
"motors.Motor.speed": "Gets motor actual speed.",
"motors.Motor.stop": "Stops the motor",
"motors.Motor.tachoCount": "Gets motor tacho count.",
"motors.setSyncSpeed": "Synchronizes this motor with another motor.",
"motors.setSyncSpeed|param|speed": "the power applied to the motor, eg: 50",
"motors.setSyncSpeed|param|turnRatio": "the ratio of the master power applied to this motor, eg: 100",
"motors.stopAllMotors": "Stops all motors",
"output.createBuffer": "Create a new zero-initialized buffer.",
"output.createBuffer|param|size": "number of bytes in the buffer",

2
libs/core/_locales/core-strings.json
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@ -14,6 +14,7 @@
"LightsPattern.Red|block": "Red",
"Output.ALL|block": "All",
"Output.A|block": "A",
"Output.BC|block": "B+C",
"Output.B|block": "B",
"Output.C|block": "C",
"Output.D|block": "D",
@ -51,6 +52,7 @@
"motors.mediumMotorB|block": "medium B",
"motors.mediumMotorC|block": "medium C",
"motors.mediumMotorD|block": "medium D",
"motors.setSyncSpeed|block": "set sync speed B+C with %turnRatio|turn ratio at %speed|% speed",
"motors.stopAllMotors|block": "stop all `icons.motorLarge`",
"motors|block": "motors",
"output|block": "output",

34
libs/core/output.ts
View File

@ -7,6 +7,8 @@ enum Output {
C = 0x04,
//% block="D"
D = 0x08,
//% block="B+C"
BC = 0x06,
//% block="All"
ALL = 0x0f
}
@ -75,7 +77,7 @@ namespace motors {
//% fixedInstances
export class Motor extends control.Component {
public port: Output;
private port: Output;
private large: boolean;
private brake: boolean;
@ -102,8 +104,7 @@ namespace motors {
b.setNumber(NumberFormat.Int8LE, 2, speed)
writePWM(b)
if (speed) {
const b = mkCmd(this.port, DAL.opOutputStart, 0)
writePWM(b);
start(this.port);
} else {
this.stop();
}
@ -241,6 +242,28 @@ namespace motors {
//% whenUsed fixedInstance block="medium D"
export const mediumMotorD = new Motor(Output.D, false);
/**
* Synchronizes this motor with another motor.
* @param motor the controlled motor, eg: motors.largeB
* @param other the motor that will control this motor, eg: motors.largeC
* @param turnRatio the ratio of the master power applied to this motor, eg: 100
* @param speed the power applied to the motor, eg: 50
*/
//% blockId=motorSync block="set sync speed B+C with %turnRatio|turn ratio at %speed|% speed"
//% turnRatio.min=-200 turnRatio.max=200
//% speed.min=-100 speed.max=100
export function setSyncSpeed(turnRatio: number, speed: number) {
syncMotors(Output.BC, {
useSteps: true,
speed: speed,
turnRatio: turnRatio,
stepsOrTime: 0,
useBrake: false
})
start(Output.BC);
}
function reset(out: Output) {
let b = mkCmd(out, DAL.opOutputReset, 0)
writePWM(b)
@ -303,6 +326,11 @@ namespace motors {
useBrake?: boolean;
}
function start(out: Output) {
const b = mkCmd(out, DAL.opOutputStart, 0)
writePWM(b);
}
function step(out: Output, opts: StepOptions) {
let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed
let speed = opts.speed