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tank support

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Peli de Halleux
2017-12-14 13:25:27 -08:00
parent 81fcbb6916
commit 124d8a0fd8
3 changed files with 39 additions and 12 deletions
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35
libs/core/output.ts
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@ -313,15 +313,38 @@ namespace motors {
* @param value the move quantity, eg: 2
* @param unit the meaning of the value
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
* @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``
* @param steering the ratio of power sent to the follower motor, from ``-100`` to ``100``
*/
//% blockId=motorTurn block="turn `icons.motorLarge` %motor|by %value|%unit|at %speed|% turn %turnRadio"
//% blockId=motorTurn block="move steering `icons.motorLarge` %motor|at %speed|%|steer %turnRadio|%|by %value|%unit"
//% weight=9 blockGap=8
//% turnRatio.min=-200 turnRatio=200
//% steering.min=-100 steering=100
//% inlineInputMode=inline
turn(value: number, unit: MoveUnit, speed: number, turnRatio: number) {
this.output(value, unit, speed, turnRatio);
}
moveSteering(steering: number, speed: number, value: number, unit: MoveUnit) {
this.output(value, unit, speed, steering + 100);
}
/**
* The Move Tank block can make a robot drive forward, backward, turn, or stop.
* Use the Move Tank block for robot vehicles that have two Large Motors,
* with one motor driving the left side of the vehicle and the other the right side.
* You can make the two motors go at different speeds or in different directions
* to make your robot turn.
* @param value the amount of movement, eg: 2
* @param unit
* @param speedLeft the speed on the left motor, eg: 50
* @param speedRight the speed on the right motor, eg: 50
*/
//% blockId=motorTank block="move tank `icons.motorLarge` %motor|left %speedLeft|%|right %speedRight|%|by %value|%unit"
//% weight=9 blockGap=8
//% speedLeft.min=-100 speedLeft=100
//% speedRight.min=-100 speedRight=100
//% inlineInputMode=inline
moveTank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
speedLeft = Math.clamp(speedLeft >> 0, -100, 100);
speedRight = Math.clamp(speedRight >> 0, -100, 100);
const steering =(speedRight * 100 / speedLeft) >> 0;
this.moveSteering(speedLeft, steering, value, unit);
}
}
//% whenUsed fixedInstance block="large A"