@ -279,7 +279,7 @@ namespace motors {
|
||||
const r: MoveSchedule = {
|
||||
speed: Math.clamp(-100, 100, speed >> 0),
|
||||
useSteps: true,
|
||||
steps: [step1, step2, step3]
|
||||
steps: [step1 || 0, step2 || 0, step3 || 0]
|
||||
}
|
||||
let scale = 1;
|
||||
switch (unit) {
|
||||
@ -352,18 +352,20 @@ namespace motors {
|
||||
/**
|
||||
* Schedules a run of the motor with an acceleration, constant and deceleration phase.
|
||||
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
|
||||
* @param acceleration acceleration phase measured distance or rotation
|
||||
* @param value measured distance or rotation
|
||||
* @param deceleration deceleration phase measured distance or rotation
|
||||
* @param unit (optional) unit of the value
|
||||
* @param value measured distance or rotation, eg: 500
|
||||
* @param unit (optional) unit of the value, eg: MoveUnit.MilliSeconds
|
||||
* @param acceleration acceleration phase measured distance or rotation, eg: 500
|
||||
* @param deceleration deceleration phase measured distance or rotation, eg: 500
|
||||
*/
|
||||
//% blockId=motorSchedule block="schedule %motor at %speed=motorSpeedPicker|\\%|for %acceleration|%value|%deceleration||%unit"
|
||||
//% blockId=motorSchedule block="ramp %motor at %speed=motorSpeedPicker|\\%|for %value|%unit||accelerate %acceleration|decelerate %deceleration"
|
||||
//% weight=99 blockGap=8
|
||||
//% group="Move"
|
||||
//% motor.fieldEditor="motors"
|
||||
//% help=motors/motor/schedule
|
||||
//% help=motors/motor/ramp
|
||||
//% inlineInputMode=inline
|
||||
schedule(speed: number, acceleration: number, value: number, deceleration: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
|
||||
//% expandableArgumentMode=toggle
|
||||
//% value.defl=500
|
||||
ramp(speed: number, value: number = 500, unit: MoveUnit = MoveUnit.MilliSeconds, acceleration?: number, deceleration?: number) {
|
||||
this.init();
|
||||
const schedule = this.normalizeSchedule(speed, acceleration, value, deceleration, unit);
|
||||
// stop if speed is 0
|
||||
|
Reference in New Issue
Block a user