fixing motor compilation

libs/core/_locales/core-jsdoc-strings.json

@@ -55,7 +55,6 @@
   "motors.Motor.move|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
   "motors.Motor.move|param|unit": "the meaning of the value",
   "motors.Motor.move|param|value": "the move quantity, eg: 2",
-  "motors.Motor.port": "Gets the port where this motor is connected",
   "motors.Motor.reset": "Resets the motor(s).",
   "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",

libs/core/output.ts

@@ -96,31 +96,31 @@ namespace motors {
     export class Motor extends control.Component {
         protected _port: Output;
         protected _brake: boolean;
+        private _initialized: boolean;
+        private _init: () => void;
+        private _setSpeed: (speed: number) => void;
+        private _move: (steps: boolean, stepsOrTime: number, speed: number) => void;
 
-        constructor(port: Output) {
+        constructor(port: Output, init: () => void, setSpeed: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
             super();
             this._port = port;
             this._brake = false;
+            this._initialized = false;
+            this._init = init;
+            this._setSpeed = setSpeed;
+            this._move = move;
         }
 
         /**
          * Lazy initialization code
          */
-        protected __init() {
+        protected init() {
-
+            if (!this._initialized) {
+                this._initialized = true;
+                this._init();
             }
-
-        /**
-         * Gets the port where this motor is connected
-         */
-        //%
-        //% group="Motion"
-        port(): Output {
-            this.__init();
-            return this._port;
         }
 
-
         /**
          * Sets the automatic brake on or off when the motor is off
          * @param brake a value indicating if the motor should break when off
@@ -130,7 +130,7 @@ namespace motors {
         //% weight=60 blockGap=8
         //% group="Motion"
         setBrake(brake: boolean) {
-            this.__init();
+            this.init();
             this._brake = brake;
         }
 
@@ -142,7 +142,7 @@ namespace motors {
         //% weight=59
         //% group="Motion"
         setReversed(reversed: boolean) {
-            this.__init();
+            this.init();
             const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
             b.setNumber(NumberFormat.Int8LE, 2, reversed ? 0 : 1);
             writePWM(b)
@@ -153,7 +153,7 @@ namespace motors {
          */
         //%
         stop() {
-            this.__init();
+            this.init();
             stop(this._port, this._brake);
         }
 
@@ -162,7 +162,7 @@ namespace motors {
          */
         //%
         reset() {
-            this.__init();
+            this.init();
             reset(this._port);
         }
 
@@ -176,15 +176,12 @@ namespace motors {
         //% speed.min=-100 speed.max=100
         //% group="Motion"
         setSpeed(speed: number) {
-            this.__init();
+            this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) // always stop
                 this.stop();
             else
-                this.__setSpeed(speed);
+                this._setSpeed(speed);
-        }
-
-        protected __setSpeed(speed: number) {
         }
 
         /**
@@ -198,7 +195,7 @@ namespace motors {
         //% speed.min=-100 speed.max=100    
         //% group="Motion"
         move(value: number, unit: MoveUnit, speed: number) {
-            this.__init();
+            this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) {
                 this.stop();
@@ -221,40 +218,33 @@ namespace motors {
                     break;
             }
 
-            this.__move(useSteps, stepsOrTime, speed);
+            this._move(useSteps, stepsOrTime, speed);
-        }
-
-        protected __move(steps: boolean, stepsOrTime: number, speed: number) {
         }
     }
 
     //% fixedInstances
     export class SingleMotor extends Motor {
         private _large: boolean;
-        private _initialized: boolean;
 
         constructor(port: Output, large: boolean) {
-            super(port);
+            super(port, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
             this._large = large;
         }
 
-        protected __init() {
+        private __init() {
-            if (!this._initialized) {
-                this._initialized = true;
             // specify motor size on this port            
             const b = mkCmd(outOffset(this._port), DAL.opOutputSetType, 1)
             b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
             writePWM(b)
         }
-        }
 
-        protected __setSpeed(speed: number) {
+        private __setSpeed(speed: number) {
             const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
             b.setNumber(NumberFormat.Int8LE, 2, speed)
             writePWM(b)
         }
 
-        protected __move(steps: boolean, stepsOrTime: number, speed: number) {
+        private __move(steps: boolean, stepsOrTime: number, speed: number) {
             step(this._port, {
                 useSteps: steps,
                 step1: 0,
@@ -273,7 +263,7 @@ namespace motors {
         //% weight=72 blockGap=8
         //% group="Sensors"
         speed(): number {
-            this.__init();
+            this.init();
             return getMotorData(this._port).actualSpeed;
         }
 
@@ -285,7 +275,7 @@ namespace motors {
         //% weight=71 blockGap=8
         //% group="Sensors"
         count(): number {
-            this.__init();
+            this.init();
             return getMotorData(this._port).count;
         }
 
@@ -297,7 +287,7 @@ namespace motors {
         //% weight=70
         //% group="Sensors"
         tachoCount(): number {
-            this.__init();
+            this.init();
             return getMotorData(this._port).tachoCount;
         }
 
@@ -306,7 +296,7 @@ namespace motors {
          */
         //% group="Motion"
         clearCount() {
-            this.__init();
+            this.init();
             const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
             writePWM(b)
             for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
@@ -343,15 +333,12 @@ namespace motors {
 
     //% fixedInstances
     export class SynchedMotorPair extends Motor {
-        private _initialized: boolean;
 
         constructor(ports: Output) {
-            super(ports);
+            super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
         }
 
-        protected __init() {
+        private __init() {
-            if (!this._initialized) {
-                this._initialized = true;
             for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
                 if (this._port & (1 << i)) {
                     const b = mkCmd(outOffset(1 << i), DAL.opOutputSetType, 1)
@@ -360,9 +347,8 @@ namespace motors {
                 }
             }
         }
-        }
 
-        protected __setSpeed(speed: number) {
+        private __setSpeed(speed: number) {
             syncMotors(this._port, {
                 speed: speed,
                 turnRatio: 0,
@@ -370,7 +356,7 @@ namespace motors {
             })
         }
 
-        protected __move(steps: boolean, stepsOrTime: number, speed: number) {
+        private __move(steps: boolean, stepsOrTime: number, speed: number) {
             syncMotors(this._port, {
                 useSteps: steps,
                 speed: speed,
@@ -393,7 +379,7 @@ namespace motors {
         //% inlineInputMode=inline
         //% group="Chassis"
         steer(steering: number, speed: number, value: number, unit: MoveUnit) {
-            this.__init();
+            this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) {
                 stop(this._port, this._brake);