more work on motors

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

@@ -52,20 +52,23 @@
   "control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
   "motors.Motor.clearCount": "Clears the motor count",
   "motors.Motor.count": "Gets motor step count.",
-  "motors.Motor.move": "Moves the motor by a number of degrees",
+  "motors.Motor.move": "Moves the motor by a number of rotations, degress or seconds",
-  "motors.Motor.move|param|angle": "the degrees to rotate, eg: 360",
+  "motors.Motor.move|param|unit": "the meaning of the value",
-  "motors.Motor.reset": "Resets the motor.",
+  "motors.Motor.move|param|value": "the move quantity, eg: 2",
+  "motors.Motor.power": "Turns the motor on or off at the current speed",
+  "motors.Motor.power|param|on": "true if the motor should be on",
+  "motors.Motor.reset": "Resets the motor and clears any synchronization",
   "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.setReversed": "Reverses the motor polarity",
-  "motors.Motor.setSpeed": "Sets the motor speed level from ``-100`` to ``100``.",
-  "motors.Motor.setSpeed|param|speed": "the power from ``100`` full forward to ``-100`` full backward, eg: 50",
   "motors.Motor.speed": "Gets motor actual speed.",
-  "motors.Motor.stop": "Stops the motor",
+  "motors.Motor.sync": "Synchronizes a follower motor to this motor",
+  "motors.Motor.sync|param|follower": "the motor that follows this motor commands, eg: motors.largeC",
   "motors.Motor.tachoCount": "Gets motor tacho count.",
-  "motors.setSyncSpeed": "Synchronizes this motor with another motor.",
+  "motors.Motor.turn": "Turns the motor and the follower motor by a number of rotations",
-  "motors.setSyncSpeed|param|speed": "the power applied to the motor, eg: 50",
+  "motors.Motor.turn|param|turnRatio": "the ratio of power sent to the follower motor, from -200 to 200",
-  "motors.setSyncSpeed|param|turnRatio": "the ratio of the master power applied to this motor, eg: 100",
+  "motors.Motor.turn|param|unit": "the meaning of the value",
+  "motors.Motor.turn|param|value": "the move quantity, eg: 2",
   "motors.stopAllMotors": "Stops all motors",
   "output.createBuffer": "Create a new zero-initialized buffer.",
   "output.createBuffer|param|size": "number of bytes in the buffer",

libs/core/_locales/core-strings.json

@@ -12,6 +12,9 @@
   "LightsPattern.RedFlash|block": "Flashing Red",
   "LightsPattern.RedPulse|block": "Pulsing Red",
   "LightsPattern.Red|block": "Red",
+  "MoveUnit.Degrees|block": "degrees",
+  "MoveUnit.Rotations|block": "rotations",
+  "MoveUnit.Seconds|block": "seconds",
   "Output.ALL|block": "All",
   "Output.A|block": "A",
   "Output.BC|block": "B+C",
@@ -37,13 +40,15 @@
   "control.raiseEvent|block": "raise event|from %src|with value %value",
   "control|block": "control",
   "motors.Motor.count|block": "`icons.motorLarge` %motor|count",
-  "motors.Motor.move|block": "move `icons.motorLarge` %motor|by %angle|degrees at %speed|%",
+  "motors.Motor.move|block": "move `icons.motorLarge` %motor|for %value|%unit",
+  "motors.Motor.power|block": "power `icons.motorLarge` %motor|%on",
+  "motors.Motor.reset|block": "reset `icons.motorLarge` %motor",
   "motors.Motor.setBrake|block": "set `icons.motorLarge` %motor|brake %brake",
   "motors.Motor.setReversed|block": "set `icons.motorLarge` %motor|reversed %reversed",
-  "motors.Motor.setSpeed|block": "set speed `icons.motorLarge` %motor|to %speed|%",
   "motors.Motor.speed|block": "`icons.motorLarge` %motor|speed",
-  "motors.Motor.stop|block": "stop `icons.motorLarge` %motor",
+  "motors.Motor.sync|block": "sync `icons.motorLarge` %motor|with `icons.motorLarge` %follower",
   "motors.Motor.tachoCount|block": "`icons.motorLarge` %motor|tacho count",
+  "motors.Motor.turn|block": "turn `icons.motorLarge` %motor|by %value|%unit|turn %turnRadio",
   "motors.largeMotorA|block": "large A",
   "motors.largeMotorB|block": "large B",
   "motors.largeMotorC|block": "large C",
@@ -52,7 +57,6 @@
   "motors.mediumMotorB|block": "medium B",
   "motors.mediumMotorC|block": "medium C",
   "motors.mediumMotorD|block": "medium D",
-  "motors.setSyncSpeed|block": "set sync speed B+C with %turnRatio|turn ratio at %speed|% speed",
   "motors.stopAllMotors|block": "stop all `icons.motorLarge`",
   "motors|block": "motors",
   "output|block": "output",
@@ -69,6 +73,5 @@
   "{id:category}Serial": "Serial",
   "{id:group}Buttons": "Buttons",
   "{id:group}Light": "Light",
-  "{id:group}Motors": "Motors",
   "{id:group}Screen": "Screen"
 }

libs/core/output.ts

@@ -19,6 +19,15 @@ enum OutputType {
     MiniTacho = 8,
 }
 
+enum MoveUnit {
+    //% block="rotations"
+    Rotations,
+    //% block="degrees"
+    Degrees,
+    //% block="seconds"
+    Seconds
+}
+
 namespace motors {
     let pwmMM: MMap
     let motorMM: MMap
@@ -70,7 +79,7 @@ namespace motors {
      * Stops all motors
      */
     //% blockId=motorStopAll block="stop all `icons.motorLarge`"
-    //% weight=10 group="Motors" blockGap=8
+    //% weight=10 blockGap=8
     export function stopAllMotors() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
         writePWM(b)
@@ -78,71 +87,127 @@ namespace motors {
 
     //% fixedInstances
     export class Motor extends control.Component {
-        private port: Output;
+        private _port: Output;
-        private large: boolean;
+        private _large: boolean;
-        private brake: boolean;
+
+        private _initialized: boolean;
+        private _speed: number;
+        private _brake: boolean;
+        private _follower: Motor; // 
 
         constructor(port: Output, large: boolean) {
             super();
-            this.port = port;
+            this._port = port;
-            this.large = large;
+            this._large = large;
-            this.brake = false;
+            this._brake = false;
+            this._speed = 50;
+        }
+
+        private __init() {
+            if (!this._initialized) {
+                // specify motor size on this port            
+                const b = mkCmd(this._port, DAL.opOutputSetType, 1)
+                b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
+                writePWM(b)
+            }
         }
 
         /**
-         * Sets the motor speed level from ``-100`` to ``100``.
+         * Turns the motor on or off at the current speed
-         * @param motor the output connection that the motor is connected to
+         * @param on true if the motor should be on
-         * @param speed the power from ``100`` full forward to ``-100`` full backward, eg: 50
          */
-        //% blockId=motorSetSpeed block="set speed `icons.motorLarge` %motor|to %speed|%"
+        //% blockId=motorPower block="power `icons.motorLarge` %motor|%on"
-        //% weight=99 group="Motors" blockGap=8
+        //% on.fieldEditor=toggleonoff
-        //% speed.min=-100 speed.max=100
+        //% weight=99 blockGap=8
-        setSpeed(speed: number) {
+        power(on: boolean) {
-            speed = Math.clamp(-100, 100, speed >> 0);
+            if (!this._speed || !on) { // always stop
+                this.stop();
+            } else {
+                if (this._follower) this.setSpeedSync(this._speed);
+                else this.setSpeedSingle(this._speed);
+            }
+        }
 
-            // per LEGO: call it power, use speed
+        private setSpeedSingle(speed: number) {
-            const b = mkCmd(this.port, DAL.opOutputSpeed, 1)
+            const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
             b.setNumber(NumberFormat.Int8LE, 2, speed)
             writePWM(b)
-            if (speed) {
-                start(this.port);
-            } else {
-                this.stop();
         }
+
+        private setSpeedSync(speed: number) {
+            const out = this._port | this._follower._port;
+            syncMotors(out, {
+                speed: speed,
+                turnRatio: 0,
+                useBrake: !!this._brake
+            })
         }
 
         /**
-         * Moves the motor by a number of degrees
+         * Moves the motor by a number of rotations, degress or seconds
-         * @param degrees the angle to turn the motor
+         * @param value the move quantity, eg: 2
-         * @param angle the degrees to rotate, eg: 360
+         * @param unit the meaning of the value
          * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
          */
-        //% blockId=motorMove block="move `icons.motorLarge` %motor|by %angle|degrees at %speed|%"
+        //% blockId=motorMove block="move `icons.motorLarge` %motor|for %value|%unit"
-        //% weight=98 group="Motors" blockGap=8
+        //% weight=98
         //% speed.min=-100 speed.max=100    
-        move(angle: number, power: number) {
+        move(value: number, unit: MoveUnit) {
-            angle = angle >> 0;
+            this.output(value, unit, 0);
-            power = Math.clamp(-100, 100, power >> 0);
+        }
             
-            step(this.port, {
+        private output(value: number, unit: MoveUnit, turnRatio: number) {
-                speed: power,
+            this.__init();
-                step1: 0,
+            if (!this._speed) {
-                step2: angle,
+                this.stop();
-                step3: 0,
+                return;
-                useSteps: true,
+            }
-                useBrake: this.brake
+            turnRatio = Math.clamp(-200, 200, turnRatio >> 0);
+
+            let useSteps: boolean;
+            let stepsOrTime: number;
+            switch (unit) {
+                case MoveUnit.Rotations:
+                    stepsOrTime = (value * 360) >> 0;
+                    useSteps = true;
+                    break;
+                case MoveUnit.Degrees:
+                    stepsOrTime = value >> 0;
+                    useSteps = true;
+                    break;
+                default:
+                    stepsOrTime = value;
+                    useSteps = false;
+                    break;
+            }
+
+            if (this._follower) {
+                syncMotors(this._port | this._follower._port, {
+                    useSteps: useSteps,
+                    stepsOrTime: stepsOrTime,
+                    speed: this._speed,
+                    turnRatio: turnRatio,
+                    useBrake: this._brake
                 })
+            } else {
+                step(this._port, {
+                    useSteps: useSteps,
+                    step1: 0,
+                    step2: stepsOrTime,
+                    step3: 0,
+                    speed: this._speed,
+                    useBrake: this._brake
+                })
+            }
         }
 
         /**
          * Stops the motor
          */
-        //% blockId=motorStop block="stop `icons.motorLarge` %motor"
+        private stop() {
-        //% weight=97 group="Motors"
+            this.__init();
-        stop() {
+            if (this._follower) stop(this._port | this._follower._port);
-            const b = mkCmd(this.port, DAL.opOutputStop, 1)
+            else stop(this._port);
-            b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
-            writePWM(b);
         }
 
         /**
@@ -151,9 +216,9 @@ namespace motors {
          */
         //% blockId=outputMotorSetBrakeMode block="set `icons.motorLarge` %motor|brake %brake"
         //% brake.fieldEditor=toggleonoff
-        //% weight=60 group="Motors" blockGap=8
+        //% weight=60 blockGap=8
         setBrake(brake: boolean) {
-            this.brake = brake;
+            this._brake = brake;
         }
 
         /** 
@@ -161,9 +226,10 @@ namespace motors {
         */
         //% blockId=motorSetReversed block="set `icons.motorLarge` %motor|reversed %reversed"
         //% reversed.fieldEditor=toggleonoff
-        //% weight=59 group="Motors"
+        //% weight=59
         setReversed(reversed: boolean) {
-            const b = mkCmd(this.port, DAL.opOutputPolarity, 1)
+            this.__init();
+            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
             b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1);
             writePWM(b)
         }
@@ -173,9 +239,10 @@ namespace motors {
          * @param motor the port which connects to the motor
          */
         //% blockId=motorSpeed block="`icons.motorLarge` %motor|speed"
-        //% weight=72 group="Motors" blockGap=8
+        //% weight=72 blockGap=8
         speed(): number {
-            return getMotorData(this.port).actualSpeed;
+            this.__init();
+            return getMotorData(this._port).actualSpeed;
         }
 
         /**
@@ -183,9 +250,10 @@ namespace motors {
          * @param motor the port which connects to the motor
          */
         //% blockId=motorCount block="`icons.motorLarge` %motor|count"
-        //% weight=71 group="Motors" blockGap=8
+        //% weight=71 blockGap=8
         count(): number {
-            return getMotorData(this.port).count;
+            this.__init();
+            return getMotorData(this._port).count;
         }
 
         /**
@@ -193,29 +261,62 @@ namespace motors {
          * @param motor the port which connects to the motor
          */
         //% blockId=motorTachoCount block="`icons.motorLarge` %motor|tacho count"
-        //% weight=70 group="Motors"
+        //% weight=70
         tachoCount(): number {
-            return getMotorData(this.port).tachoCount;
+            this.__init();
+            return getMotorData(this._port).tachoCount;
         }
 
         /**
          * Clears the motor count
          */
         clearCount() {
-            const b = mkCmd(this.port, DAL.opOutputClearCount, 0)
+            this.__init();
+            const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
             writePWM(b)
             for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
-                if (this.port & (1 << i)) {
+                if (this._port & (1 << i)) {
                     motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
                 }
             }
         }
 
         /**
-         * Resets the motor.
+         * Resets the motor and clears any synchronization
          */
+        //% blockId=motorReset block="reset `icons.motorLarge` %motor"
+        //% weight=1
         reset() {
-            reset(this.port);
+            this.__init();
+            reset(this._port);
+            delete this._follower;
+        }
+
+        /**
+         * Synchronizes a follower motor to this motor
+         * @param motor the leader motor, eg: motors.largeB
+         * @param follower the motor that follows this motor commands, eg: motors.largeC
+         */
+        //% blockId=motorSync block="sync `icons.motorLarge` %motor|with `icons.motorLarge` %follower"
+        //% weight=10 blockGap=8
+        sync(follower: Motor) {
+            this.__init();
+            if (this == follower) return; // can't sync with self
+            this._follower = follower;
+        }
+
+        /**
+         * Turns the motor and the follower motor by a number of rotations
+         * @param value the move quantity, eg: 2
+         * @param unit the meaning of the value
+         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
+         * @param turnRatio the ratio of power sent to the follower motor, from -200 to 200
+         */
+        //% blockId=motorTurn block="turn `icons.motorLarge` %motor|by %value|%unit|turn %turnRadio"
+        //% weight=9 blockGap=8
+        //% turnRatio.min=-200 turnRatio=200
+        turn(value: number, unit: MoveUnit, turnRatio: number) {
+            this.output(value, unit, turnRatio);
         }        
     }
 
@@ -243,28 +344,6 @@ namespace motors {
     //% whenUsed fixedInstance block="medium D"
     export const mediumMotorD = new Motor(Output.D, false);
 
-
-    /**
-     * Synchronizes this motor with another motor.
-     * @param motor the controlled motor, eg: motors.largeB
-     * @param other the motor that will control this motor, eg: motors.largeC
-     * @param turnRatio the ratio of the master power applied to this motor, eg: 100
-     * @param speed the power applied to the motor, eg: 50
-     */
-    //% blockId=motorSync block="set sync speed B+C with %turnRatio|turn ratio at %speed|% speed"
-    //% turnRatio.min=-200 turnRatio.max=200 
-    //% speed.min=-100 speed.max=100
-    export function setSyncSpeed(turnRatio: number, speed: number) {
-        syncMotors(Output.BC, {
-            useSteps: true,
-            speed: speed,
-            turnRatio: turnRatio,
-            stepsOrTime: 0,
-            useBrake: false
-        })
-        start(Output.BC);
-    }
-
     function reset(out: Output) {
         let b = mkCmd(out, DAL.opOutputReset, 0)
         writePWM(b)
@@ -299,7 +378,7 @@ namespace motors {
         useSteps?: boolean;
         speed: number;
         turnRatio: number;
-        stepsOrTime: number;
+        stepsOrTime?: number;
         useBrake?: boolean;
     }
 
@@ -333,6 +412,12 @@ namespace motors {
         writePWM(b);
     }
 
+    function stop(out: Output) {
+        const b = mkCmd(out, DAL.opOutputStop, 1)
+        b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
+        writePWM(b);
+    }
+
     function step(out: Output, opts: StepOptions) {
         let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed
         let speed = opts.speed