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fixing motor compilation

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This commit is contained in:
Peli de Halleux 2017-12-18 08:54:53 -08:00
parent 8bf6f265f7
commit 363e076f36
2 changed files with 49 additions and 64 deletions
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1
libs/core/_locales/core-jsdoc-strings.json
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@ -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|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|unit": "the meaning of the value",
"motors.Motor.move|param|value": "the move quantity, eg: 2", "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.reset": "Resets the motor(s).",
"motors.Motor.setBrake": "Sets the automatic brake on or off when the motor is off", "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.setBrake|param|brake": "a value indicating if the motor should break when off",

112
libs/core/output.ts
View File

@ -96,31 +96,31 @@ namespace motors {
export class Motor extends control.Component { export class Motor extends control.Component {
protected _port: Output; protected _port: Output;
protected _brake: boolean; protected _brake: boolean;
private _initialized: boolean;
constructor(port: Output) { private _init: () => void;
private _setSpeed: (speed: number) => void;
private _move: (steps: boolean, stepsOrTime: number, speed: number) => void;
constructor(port: Output, init: () => void, setSpeed: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
super(); super();
this._port = port; this._port = port;
this._brake = false; this._brake = false;
this._initialized = false;
this._init = init;
this._setSpeed = setSpeed;
this._move = move;
} }
/** /**
* Lazy initialization code * Lazy initialization code
*/
protected __init() {
}
/**
* Gets the port where this motor is connected
*/ */
//% protected init() {
//% group="Motion" if (!this._initialized) {
port(): Output { this._initialized = true;
this.__init(); this._init();
return this._port; }
} }
/** /**
* Sets the automatic brake on or off when the motor is off * Sets the automatic brake on or off when the motor is off
* @param brake a value indicating if the motor should break when off * @param brake a value indicating if the motor should break when off
@ -130,9 +130,9 @@ namespace motors {
//% weight=60 blockGap=8 //% weight=60 blockGap=8
//% group="Motion" //% group="Motion"
setBrake(brake: boolean) { setBrake(brake: boolean) {
this.__init(); this.init();
this._brake = brake; this._brake = brake;
} }
/** /**
* Reverses the motor polarity * Reverses the motor polarity
@ -142,7 +142,7 @@ namespace motors {
//% weight=59 //% weight=59
//% group="Motion" //% group="Motion"
setReversed(reversed: boolean) { setReversed(reversed: boolean) {
this.__init(); this.init();
const b = mkCmd(this._port, DAL.opOutputPolarity, 1) const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
b.setNumber(NumberFormat.Int8LE, 2, reversed ? 0 : 1); b.setNumber(NumberFormat.Int8LE, 2, reversed ? 0 : 1);
writePWM(b) writePWM(b)
@ -153,7 +153,7 @@ namespace motors {
*/ */
//% //%
stop() { stop() {
this.__init(); this.init();
stop(this._port, this._brake); stop(this._port, this._brake);
} }
@ -162,7 +162,7 @@ namespace motors {
*/ */
//% //%
reset() { reset() {
this.__init(); this.init();
reset(this._port); reset(this._port);
} }
@ -176,17 +176,14 @@ namespace motors {
//% speed.min=-100 speed.max=100 //% speed.min=-100 speed.max=100
//% group="Motion" //% group="Motion"
setSpeed(speed: number) { setSpeed(speed: number) {
this.__init(); this.init();
speed = Math.clamp(-100, 100, speed >> 0); speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) // always stop if (!speed) // always stop
this.stop(); this.stop();
else else
this.__setSpeed(speed); this._setSpeed(speed);
} }
protected __setSpeed(speed: number) {
}
/** /**
* Moves the motor by a number of rotations, degress or seconds * Moves the motor by a number of rotations, degress or seconds
* @param value the move quantity, eg: 2 * @param value the move quantity, eg: 2
@ -198,7 +195,7 @@ namespace motors {
//% speed.min=-100 speed.max=100 //% speed.min=-100 speed.max=100
//% group="Motion" //% group="Motion"
move(value: number, unit: MoveUnit, speed: number) { move(value: number, unit: MoveUnit, speed: number) {
this.__init(); this.init();
speed = Math.clamp(-100, 100, speed >> 0); speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) { if (!speed) {
this.stop(); this.stop();
@ -221,40 +218,33 @@ namespace motors {
break; break;
} }
this.__move(useSteps, stepsOrTime, speed); this._move(useSteps, stepsOrTime, speed);
} }
protected __move(steps: boolean, stepsOrTime: number, speed: number) {
}
} }
//% fixedInstances //% fixedInstances
export class SingleMotor extends Motor { export class SingleMotor extends Motor {
private _large: boolean; private _large: boolean;
private _initialized: boolean;
constructor(port: Output, large: 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; this._large = large;
} }
protected __init() { private __init() {
if (!this._initialized) { // specify motor size on this port
this._initialized = true; const b = mkCmd(outOffset(this._port), DAL.opOutputSetType, 1)
// specify motor size on this port b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
const b = mkCmd(outOffset(this._port), DAL.opOutputSetType, 1) writePWM(b)
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) const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
b.setNumber(NumberFormat.Int8LE, 2, speed) b.setNumber(NumberFormat.Int8LE, 2, speed)
writePWM(b) writePWM(b)
} }
protected __move(steps: boolean, stepsOrTime: number, speed: number) { private __move(steps: boolean, stepsOrTime: number, speed: number) {
step(this._port, { step(this._port, {
useSteps: steps, useSteps: steps,
step1: 0, step1: 0,
@ -273,7 +263,7 @@ namespace motors {
//% weight=72 blockGap=8 //% weight=72 blockGap=8
//% group="Sensors" //% group="Sensors"
speed(): number { speed(): number {
this.__init(); this.init();
return getMotorData(this._port).actualSpeed; return getMotorData(this._port).actualSpeed;
} }
@ -285,7 +275,7 @@ namespace motors {
//% weight=71 blockGap=8 //% weight=71 blockGap=8
//% group="Sensors" //% group="Sensors"
count(): number { count(): number {
this.__init(); this.init();
return getMotorData(this._port).count; return getMotorData(this._port).count;
} }
@ -297,7 +287,7 @@ namespace motors {
//% weight=70 //% weight=70
//% group="Sensors" //% group="Sensors"
tachoCount(): number { tachoCount(): number {
this.__init(); this.init();
return getMotorData(this._port).tachoCount; return getMotorData(this._port).tachoCount;
} }
@ -306,7 +296,7 @@ namespace motors {
*/ */
//% group="Motion" //% group="Motion"
clearCount() { clearCount() {
this.__init(); this.init();
const b = mkCmd(this._port, DAL.opOutputClearCount, 0) const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
writePWM(b) writePWM(b)
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) { for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
@ -343,26 +333,22 @@ namespace motors {
//% fixedInstances //% fixedInstances
export class SynchedMotorPair extends Motor { export class SynchedMotorPair extends Motor {
private _initialized: boolean;
constructor(ports: Output) { 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) { for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
this._initialized = true; if (this._port & (1 << i)) {
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) { const b = mkCmd(outOffset(1 << i), DAL.opOutputSetType, 1)
if (this._port & (1 << i)) { b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor
const b = mkCmd(outOffset(1 << i), DAL.opOutputSetType, 1) writePWM(b)
b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor
writePWM(b)
}
} }
} }
} }
protected __setSpeed(speed: number) { private __setSpeed(speed: number) {
syncMotors(this._port, { syncMotors(this._port, {
speed: speed, speed: speed,
turnRatio: 0, 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, { syncMotors(this._port, {
useSteps: steps, useSteps: steps,
speed: speed, speed: speed,
@ -378,7 +364,7 @@ namespace motors {
stepsOrTime: stepsOrTime, stepsOrTime: stepsOrTime,
useBrake: this._brake useBrake: this._brake
}); });
} }
/** /**
* Turns the motor and the follower motor by a number of rotations * Turns the motor and the follower motor by a number of rotations
@ -393,7 +379,7 @@ namespace motors {
//% inlineInputMode=inline //% inlineInputMode=inline
//% group="Chassis" //% group="Chassis"
steer(steering: number, speed: number, value: number, unit: MoveUnit) { steer(steering: number, speed: number, value: number, unit: MoveUnit) {
this.__init(); this.init();
speed = Math.clamp(-100, 100, speed >> 0); speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) { if (!speed) {
stop(this._port, this._brake); stop(this._port, this._brake);