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Differential drive (#164)

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* clear sync speed cmd

* differential drive model

* use cm/s

* fixed aggressive clearing of motor sync command

* better computation of turn artio

* improved robot dimensions

* moving block up

* hanbdle infinite case

* correct handling of inifinte time/step

* better stop handling
This commit is contained in:
Peli de Halleux
2018-01-03 00:27:05 -08:00
committed by GitHub
parent dd9cf9014f
commit 4d223374b5
4 changed files with 96 additions and 28 deletions
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8
libs/core/_locales/core-jsdoc-strings.json
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@ -75,9 +75,15 @@
"motors.MotorBase.setSpeed": "Sets the speed of the motor.",
"motors.MotorBase.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.MotorBase.stop": "Stops the motor(s).",
"motors.SynchedMotorPair.drive": "Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)\nusing a unicycle model.",
"motors.SynchedMotorPair.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
"motors.SynchedMotorPair.drive|param|speed": "speed of the center point between motors, eg: 10",
"motors.SynchedMotorPair.drive|param|value": "the amount of movement, eg: 2",
"motors.SynchedMotorPair.setDimensions": "Sets the wheels radius and base length of a directional drive robot",
"motors.SynchedMotorPair.setDimensions|param|wheelRadius": "@param baseLength ",
"motors.SynchedMotorPair.steer": "Turns the motor and the follower motor by a number of rotations",
"motors.SynchedMotorPair.steer|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.SynchedMotorPair.steer|param|turnRatio": "the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 100",
"motors.SynchedMotorPair.steer|param|turnRatio": "the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0",
"motors.SynchedMotorPair.steer|param|unit": "the meaning of the value",
"motors.SynchedMotorPair.steer|param|value": "the move quantity, eg: 2",
"motors.SynchedMotorPair.tank": "The Move Tank block can make a robot drive forward, backward, turn, or stop. \nUse the Move Tank block for robot vehicles that have two Large Motors, \nwith one motor driving the left side of the vehicle and the other the right side. \nYou can make the two motors go at different speeds or in different directions \nto make your robot turn.",

5
libs/core/_locales/core-strings.json
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@ -54,8 +54,9 @@
"motors.MotorBase.setBrake|block": "set %motor|brake %brake",
"motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
"motors.MotorBase.setSpeed|block": "set speed of %motor|to %speed|%",
"motors.SynchedMotorPair.steer|block": "steer %chassis|%turnRatio|%|at speed %speed|%|by %value|%unit",
"motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit",
"motors.SynchedMotorPair.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
"motors.SynchedMotorPair.steer|block": "steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit",
"motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit",
"motors.largeAB|block": "large A+B",
"motors.largeAD|block": "large A+D",
"motors.largeA|block": "large A",