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Ramp (#904)

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* updated ramp block

* updated example
This commit is contained in:
Peli de Halleux
2019-09-04 14:51:45 -07:00
committed by GitHub
parent 9c5d5f9a86
commit 17ab24eaa9
2 changed files with 13 additions and 11 deletions
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6
docs/reference/motors/motor/schedule.md → docs/reference/motors/motor/ramp.md
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@@ -1,9 +1,9 @@
# Schedule # Ramp
Schedules an acceleration, constant and deceleration phase at a given speed. Schedules an acceleration, constant and deceleration phase at a given speed.
```sig ```sig
motors.largeA.schedule(50, 100, 500, 100) motors.largeA.ramp(50, 100, 500, 100)
``` ```
The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port. The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
@@ -30,7 +30,7 @@ brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
acc += -100 acc += -100
}) })
brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () { brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
motors.largeB.schedule(50, acc, steady, dec, MoveUnit.MilliSeconds) motors.largeB.ramp(50, steady, MoveUnit.MilliSeconds, acc, dec)
}) })
brick.buttonRight.onEvent(ButtonEvent.Pressed, function () { brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
acc += 100 acc += 100

18
libs/core/output.ts
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@@ -279,7 +279,7 @@ namespace motors {
const r: MoveSchedule = { const r: MoveSchedule = {
speed: Math.clamp(-100, 100, speed >> 0), speed: Math.clamp(-100, 100, speed >> 0),
useSteps: true, useSteps: true,
steps: [step1, step2, step3] steps: [step1 || 0, step2 || 0, step3 || 0]
} }
let scale = 1; let scale = 1;
switch (unit) { switch (unit) {
@@ -352,18 +352,20 @@ namespace motors {
/** /**
* Schedules a run of the motor with an acceleration, constant and deceleration phase. * 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 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, eg: 500
* @param value measured distance or rotation * @param unit (optional) unit of the value, eg: MoveUnit.MilliSeconds
* @param deceleration deceleration phase measured distance or rotation * @param acceleration acceleration phase measured distance or rotation, eg: 500
* @param unit (optional) unit of the value * @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 //% weight=99 blockGap=8
//% group="Move" //% group="Move"
//% motor.fieldEditor="motors" //% motor.fieldEditor="motors"
//% help=motors/motor/schedule //% help=motors/motor/ramp
//% inlineInputMode=inline //% 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(); this.init();
const schedule = this.normalizeSchedule(speed, acceleration, value, deceleration, unit); const schedule = this.normalizeSchedule(speed, acceleration, value, deceleration, unit);
// stop if speed is 0 // stop if speed is 0