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polarity in synched motor (#945)

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* account for polarity

* more comments

* handle dual motor in runtime

* invert steer

* don't use firmware polarity
This commit is contained in:
Peli de Halleux
2019-10-10 07:44:53 -07:00
committed by GitHub
parent b0de3d8c1b
commit 2cd2950496
3 changed files with 13 additions and 22 deletions
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16
libs/core/output.ts
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@ -159,6 +159,7 @@ namespace motors {
private _accelerationTime: number;
private _decelerationSteps: number;
private _decelerationTime: number;
private _inverted: boolean;
protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];
@ -176,6 +177,7 @@ namespace motors {
this._accelerationTime = 0;
this._decelerationSteps = 0;
this._decelerationTime = 0;
this._inverted = false;
}
/**
@ -225,9 +227,11 @@ namespace motors {
//% help=motors/motor/set-inverted
setInverted(inverted: boolean) {
this.init();
const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
writePWM(b)
this._inverted = inverted;
}
protected invertedFactor(): number {
return this._inverted ? -1 : 1;
}
/**
@ -294,8 +298,9 @@ namespace motors {
}
private normalizeSchedule(speed: number, step1: number, step2: number, step3: number, unit: MoveUnit): MoveSchedule {
// motor polarity is not supported at the firmware level for sync motor operations
const r: MoveSchedule = {
speed: Math.clamp(-100, 100, speed >> 0),
speed: Math.clamp(-100, 100, speed | 0) * this.invertedFactor(),
useSteps: true,
steps: [step1 || 0, step2 || 0, step3 || 0]
}
@ -562,6 +567,7 @@ namespace motors {
private __init() {
this.setOutputType(this._large);
this.setInverted(false);
}
/**
@ -741,7 +747,7 @@ namespace motors {
//% help=motors/synced/steer
steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0);
speed = Math.clamp(-100, 100, speed >> 0) * this.invertedFactor();
if (!speed) {
this.stop();
return;