simplified motor API

2017-10-30 21:29:18 -07:00
parent 8f5c930f76
commit 16a025f3a0
4 changed files with 63 additions and 36 deletions
--- a/libs/core/_locales/core-jsdoc-strings.json
+++ b/libs/core/_locales/core-jsdoc-strings.json
@@ -42,14 +42,17 @@
  "control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
  "motors.Motor.clearCount": "Clears the motor count",
  "motors.Motor.count": "Gets motor step count.",
-  "motors.Motor.on": "Power on or off the motor.",
+  "motors.Motor.move": "Moves the motor by a number of degrees",
+  "motors.Motor.move|param|angle": "the degrees to rotate, eg: 360",
+  "motors.Motor.move|param|power": "the power from ``100`` full forward to ``-100`` full backward, eg: 50",
+  "motors.Motor.power": "Sets the motor power level from ``-100`` to ``100``.",
+  "motors.Motor.power|param|power": "the power from ``100`` full forward to ``-100`` full backward, eg: 50",
  "motors.Motor.reset": "Resets the motor.",
  "motors.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
  "motors.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",
-  "motors.Motor.setPower": "Sets the motor power level from ``-100`` to ``100``.",
-  "motors.Motor.setPower|param|power": "the desired speed to use. eg: 50",
  "motors.Motor.setReversed": "Reverses the motor polarity",
  "motors.Motor.speed": "Gets motor actual speed.",
+  "motors.Motor.stop": "Stops the motor",
  "motors.Motor.tachoCount": "Gets motor tacho count.",
  "motors.stopAllMotors": "Stops all motors",
  "output.createBuffer": "Create a new zero-initialized buffer.",
--- a/libs/core/_locales/core-strings.json
+++ b/libs/core/_locales/core-strings.json
@@ -46,11 +46,12 @@
  "control.raiseEvent|block": "raise event|from %src|with value %value",
  "control|block": "control",
  "motors.Motor.count|block": "%motor|count",
-  "motors.Motor.on|block": "%motor|%onOrOff",
-  "motors.Motor.setBrake|block": "%motor|set brake %brake",
-  "motors.Motor.setPower|block": "%motor|set power to %speed",
-  "motors.Motor.setReversed|block": "%motor|set reversed %reversed",
+  "motors.Motor.move|block": "move %motor|by %angle|degrees at %power|%",
+  "motors.Motor.power|block": "power %motor|to %power|%",
+  "motors.Motor.setBrake|block": "set %motor|brake %brake",
+  "motors.Motor.setReversed|block": "set %motor|reversed %reversed",
  "motors.Motor.speed|block": "%motor|speed",
+  "motors.Motor.stop|block": "stop %motor",
  "motors.Motor.tachoCount|block": "%motor|tacho count",
  "motors.largeMotorA|block": "large motor A",
  "motors.largeMotorB|block": "large motor B",
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@@ -87,43 +87,66 @@ namespace motors {
        }

        /**
-         * Power on or off the motor.
-         * @param motor the motor to turn on
-         * @param power the motor power level from ``-100`` to ``100``, eg: 50
+         * Sets the motor power level from ``-100`` to ``100``.
+         * @param motor the output connection that the motor is connected to
+         * @param power the power from ``100`` full forward to ``-100`` full backward, eg: 50
         */
-        //% blockId=outputMotorOn block="%motor|%onOrOff"
-        //% onOrOff.fieldEditor=toggleonoff
+        //% blockId=motorSetPower block="power %motor|to %power|%"
        //% weight=99 group="Motors" blockGap=8
-        on(onOrOff: boolean = true) {
-            if (onOrOff) {
+        //% power.min=-100 power.max=100
+        power(power: number) {
+            power = Math.clamp(-100, 100, power >> 0);
+
+            const b = mkCmd(this.port, DAL.opOutputPower, 1)
+            b.setNumber(NumberFormat.Int8LE, 2, power)
+            writePWM(b)
+            if (power) {
                const b = mkCmd(this.port, DAL.opOutputStart, 0)
                writePWM(b);
            } else {
-                const b = mkCmd(this.port, DAL.opOutputStop, 1)
-                b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
-                writePWM(b)
+                this.stop();
            }
        }

        /**
-         * Sets the motor power level from ``-100`` to ``100``.
-         * @param motor the output connection that the motor is connected to
-         * @param power the desired speed to use. eg: 50
+         * Moves the motor by a number of degrees
+         * @param degrees the angle to turn the motor
+         * @param angle the degrees to rotate, eg: 360
+         * @param power the power from ``100`` full forward to ``-100`` full backward, eg: 50
         */
-        //% blockId=motorSetPower block="%motor|set power to %speed"
-        //% weight=62 group="Motors" blockGap=8
-        //% speed.min=-100 speed.max=100
-        setPower(power: number) {
-            const b = mkCmd(this.port, DAL.opOutputPower, 1)
-            b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, power))
-            writePWM(b)
+        //% blockId=motorMove block="move %motor|by %angle|degrees at %power|%"
+        //% weight=98 group="Motors" blockGap=8
+        //% power.min=-100 power.max=100
+        move(angle: number, power: number) {
+            angle = angle >> 0;
+            power = Math.clamp(-100, 100, power >> 0);
+
+            step(this.port, {
+                speed: power,
+                step1: 0,
+                step2: angle,
+                step3: 0,
+                useSteps: true,
+                useBrake: this.brake
+            })
        }

+        /**
+         * Stops the motor
+         */
+        //% blockId=motorStop block="stop %motor"
+        //% weight=97 group="Motors"
+        stop() {
+            const b = mkCmd(this.port, DAL.opOutputStop, 1)
+            b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
+            writePWM(b);
+    }
+
        /**
         * Sets the automatic brake on or off when the motor is off
         * @param brake a value indicating if the motor should break when off
         */
-        //% blockId=outputMotorSetBrakeMode block="%motor|set brake %brake"
+        //% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake"
        //% brake.fieldEditor=toggleonoff
        //% weight=60 group="Motors" blockGap=8
        setBrake(brake: boolean) {
@@ -133,7 +156,7 @@ namespace motors {
        /** 
         * Reverses the motor polarity
        */
-        //% blockId=motorSetReversed block="%motor|set reversed %reversed"
+        //% blockId=motorSetReversed block="set %motor|reversed %reversed"
        //% reversed.fieldEditor=toggleonoff
        //% weight=59 group="Motors"
        setReversed(reversed: boolean) {
@@ -147,7 +170,7 @@ namespace motors {
         * @param motor the port which connects to the motor
         */
        //% blockId=motorSpeed block="%motor|speed"
-        //% weight=50 group="Motors" blockGap=8
+        //% weight=72 group="Motors" blockGap=8
        speed(): number {
            return getMotorData(this.port).actualSpeed;
        }
@@ -157,7 +180,7 @@ namespace motors {
         * @param motor the port which connects to the motor
         */
        //% blockId=motorCount block="%motor|count"
-        //% weight=49 group="Motors" blockGap=8
+        //% weight=71 group="Motors" blockGap=8
        count(): number {
            return getMotorData(this.port).count;
        }
@@ -167,7 +190,7 @@ namespace motors {
         * @param motor the port which connects to the motor
         */
        //% blockId=motorTachoCount block="%motor|tacho count"
-        //% weight=48 group="Motors"
+        //% weight=70 group="Motors"
        tachoCount(): number {
            return getMotorData(this.port).tachoCount;
        }
--- a/libs/ev3/ns.ts
+++ b/libs/ev3/ns.ts
@@ -5,12 +5,12 @@ namespace brick {
 }


-//% color="#8AC044" weight=95 icon="\uf185"
-namespace motors {
+//% color="#D42878" weight=95
+namespace sensors {
 }

-//% color="#D42878" weight=90
-namespace sensors {
+//% color="#8AC044" weight=90 icon="\uf185"
+namespace motors {
 }

 //% color="#DF5014" weight=80