c_meyer/pxt-ev3
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Merge branch 'master' into motorslider

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This commit is contained in:
Sam El-Husseini
2018-01-10 09:56:59 -08:00
parent 16b9a5027d f64bf57000
commit 4e4f5495da
165 changed files with 13655 additions and 849 deletions
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3
sim/state/analog.ts
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@ -24,13 +24,14 @@ namespace pxsim {
}
export class EV3AnalogState {
constructor() {
let data = new Uint8Array(5172)
MMapMethods.register("/dev/lms_analog", {
data,
beforeMemRead: () => {
//console.log("analog before read");
data[AnalogOff.BatteryTemp] = 21; // TODO simulate this
data[AnalogOff.BatteryCurrent] = 100; // TODO simulate this
const inputNodes = ev3board().getInputNodes();
for (let port = 0; port < DAL.NUM_INPUTS; port++) {
const node = inputNodes[port];

4
sim/state/color.ts
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@ -3,12 +3,13 @@
namespace pxsim {
export enum ColorSensorMode {
None = -1,
Reflected = 0,
Ambient = 1,
Colors = 2,
RefRaw = 3,
RgbRaw = 4,
ColorCal = 5
ColorCal = 5,
}
export enum ThresholdState {
@ -24,6 +25,7 @@ namespace pxsim {
constructor(port: number) {
super(port);
this.mode = -1;
}
getDeviceType() {

1
sim/state/control.ts
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@ -81,7 +81,6 @@ namespace pxsim.control {
export function dmesg(s: string) {
console.log("DMESG: " + s)
}
}
namespace pxsim.output {

19
sim/state/input.ts
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@ -1,10 +1,17 @@
import lf = pxsim.localization.lf;
namespace pxsim.motors {
export function __motorUsed(port: number, large: boolean) {
//console.log("MOTOR INIT " + port);
ev3board().motorUsed(port, large);
runtime.queueDisplayUpdate();
if (!ev3board().hasMotor(port)) {
ev3board().motorUsed(port, large);
runtime.queueDisplayUpdate();
} else {
U.userError(`${lf("Multiple motors are connected to Port")} ${String.fromCharCode('A'.charCodeAt(0) + ev3board().motorMap[port])}`);
}
}
}
@ -12,7 +19,11 @@ namespace pxsim.sensors {
export function __sensorUsed(port: number, type: number) {
//console.log("SENSOR INIT " + port + ", type: " + type);
const sensor = ev3board().getSensor(port, type);
runtime.queueDisplayUpdate();
if (!ev3board().hasSensor(port)) {
const sensor = ev3board().getSensor(port, type);
runtime.queueDisplayUpdate();
} else {
U.userError(`${lf("Multiple sensors are connected to Port")} ${port + 1}`);
}
}
}

82
sim/state/motornode.ts
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@ -15,29 +15,51 @@ namespace pxsim {
private speedCmdValues: number[];
private speedCmdTacho: number;
private speedCmdTime: number;
private _synchedMotor: MotorNode; // non-null if synchronized
constructor(port: number, large: boolean) {
super(port);
this.setLarge(large);
}
isReady() {
return !this.speedCmd;
}
getSpeed() {
return this.speed * (this.polarity == 0 ? -1 : 1);
return this.speed * (this.polarity == 0 ? -1 : 1);
}
getAngle() {
return this.angle;
}
// returns the slave motor if any
getSynchedMotor() {
return this._synchedMotor;
}
setSpeedCmd(cmd: DAL, values: number[]) {
if (this.speedCmd != cmd ||
JSON.stringify(this.speedCmdValues) != JSON.stringify(values))
this.setChangedState();
// new command TODO: values
this.speedCmd = cmd;
this.speedCmdValues = values;
this.speedCmdTacho = this.angle;
this.speedCmdTime = pxsim.U.now();
delete this._synchedMotor;
}
setSyncCmd(motor: MotorNode, cmd: DAL, values: number[]) {
this.setSpeedCmd(cmd, values);
this._synchedMotor = motor;
}
clearSpeedCmd() {
delete this.speedCmd;
delete this.speedCmdValues;
delete this._synchedMotor;
}
setLarge(large: boolean) {
@ -67,6 +89,7 @@ namespace pxsim {
stop() {
this.started = false;
this.clearSpeedCmd();
}
start() {
@ -86,7 +109,7 @@ namespace pxsim {
//console.log(`motor: ${elapsed}ms - ${this.speed}% - ${this.angle}> - ${this.tacho}|`)
const interval = Math.min(20, elapsed);
let t = 0;
while(t < elapsed) {
while (t < elapsed) {
let dt = interval;
if (t + dt > elapsed) dt = elapsed - t;
this.updateStateStep(dt);
@ -106,14 +129,14 @@ namespace pxsim {
case DAL.opOutputTimeSpeed:
case DAL.opOutputTimePower:
case DAL.opOutputStepPower:
case DAL.opOutputStepSpeed:
case DAL.opOutputStepSpeed: {
// ramp up, run, ramp down, <brake> using time
const speed = this.speedCmdValues[0];
const step1 = this.speedCmdValues[1];
const step2 = this.speedCmdValues[2];
const step3 = this.speedCmdValues[3];
const brake = this.speedCmdValues[4];
const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed)
const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed)
? pxsim.U.now() - this.speedCmdTime
: this.tacho - this.speedCmdTacho;
if (dstep < step1) // rampup
@ -126,9 +149,49 @@ namespace pxsim {
if (brake) this.speed = 0;
this.clearSpeedCmd();
}
this.speed = Math.round(this.speed); // integer only
break;
}
case DAL.opOutputStepSync:
case DAL.opOutputTimeSync: {
const otherMotor = this._synchedMotor;
if (otherMotor.port < this.port) // handled in other motor code
break;
const speed = this.speedCmdValues[0];
const turnRatio = this.speedCmdValues[1];
const stepsOrTime = this.speedCmdValues[2];
const brake = this.speedCmdValues[3];
const dstep = this.speedCmd == DAL.opOutputTimeSync
? pxsim.U.now() - this.speedCmdTime
: this.tacho - this.speedCmdTacho;
// 0 is special case, run infinite
if (!stepsOrTime || dstep < stepsOrTime)
this.speed = speed;
else {
if (brake) this.speed = 0;
this.clearSpeedCmd();
}
// turn ratio is a bit weird to interpret
// see https://communities.theiet.org/blogs/698/1706
if (turnRatio < 0) {
otherMotor.speed = speed;
this.speed *= (100 + turnRatio) / 100;
} else {
otherMotor.speed = this.speed * (100 - turnRatio) / 100;
}
// clamp
this.speed = Math.max(-100, Math.min(100, this.speed >> 0));
otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));;
// stop other motor if needed
if (!this._synchedMotor)
otherMotor.clearSpeedCmd();
break;
}
}
this.speed = Math.round(this.speed); // integer only
// compute delta angle
const rotations = this.getSpeed() / 100 * this.rotationsPerMilliSecond * elapsed;
@ -143,8 +206,15 @@ namespace pxsim {
// let it coast to speed 0
if (this.speed && !(this.started || this.speedCmd)) {
// decay speed 5% per tick
this.speed = Math.round(Math.max(0, Math.abs(this.speed) - 10) * Math.sign(this.speed));
this.speed = Math.round(Math.max(0, Math.abs(this.speed) - 10) * sign(this.speed));
}
}
}
}
namespace pxsim {
// A re-implementation of Math.sign (since IE11 doesn't support it)
export function sign(num: number) {
return num ? num < 0 ? -1 : 1 : 0;
}
}

41
sim/state/output.ts
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@ -12,10 +12,24 @@ namespace pxsim {
data[i] = 0
},
read: buf => {
let v = "vSIM"
for (let i = 0; i < buf.data.length; ++i)
buf.data[i] = v.charCodeAt(i) || 0
console.log("pwm read");
// console.log("pwm read");
if (buf.data.length == 0) return 2;
const cmd = buf.data[0];
switch (cmd) {
case DAL.opOutputTest:
const port = buf.data[1];
let r = 0;
ev3board().getMotor(port)
.filter(motor => !motor.isReady())
.forEach(motor => r |= (1 << motor.port));
pxsim.BufferMethods.setNumber(buf, BufferMethods.NumberFormat.UInt8LE, 2, r);
break;
default:
let v = "vSIM"
for (let i = 0; i < buf.data.length; ++i)
buf.data[i] = v.charCodeAt(i) || 0
break;
}
return buf.data.length
},
write: buf => {
@ -56,6 +70,25 @@ namespace pxsim {
motors.forEach(motor => motor.setSpeedCmd(cmd, [speed, step1, step2, step3, brake]));
return 2;
}
case DAL.opOutputStepSync:
case DAL.opOutputTimeSync: {
const port = buf.data[1];
const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte
// note that b[3] is padding
const turnRatio = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int16LE, 4);
// b[6], b[7] is padding
const stepsOrTime = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8);
const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 12);
const motors = ev3board().getMotor(port);
for (const motor of motors) {
const otherMotor = motors.filter(m => m.port != motor.port)[0];
motor.setSyncCmd(
otherMotor,
cmd, [speed, turnRatio, stepsOrTime, brake]);
}
return 2;
}
case DAL.opOutputStop: {
// stop
const port = buf.data[1];

9
sim/state/sensor.ts
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@ -5,6 +5,7 @@ namespace pxsim {
protected mode: number;
protected valueChanged: boolean;
protected modeChanged: boolean;
constructor(port: number) {
super(port);
@ -24,6 +25,8 @@ namespace pxsim {
setMode(mode: number) {
this.mode = mode;
this.changed = true;
this.modeChanged = true;
}
getMode() {
@ -44,6 +47,12 @@ namespace pxsim {
return res;
}
modeChange() {
const res = this.modeChanged;
this.modeChanged = false;
return res;
}
setChangedState() {
this.changed = true;
this.valueChanged = false;

15
sim/state/sounds.ts
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@ -10,8 +10,6 @@ namespace pxsim.music {
}
namespace pxsim.SoundMethods {
let numSoundsPlaying = 0;
const soundsLimit = 1;
let audio: HTMLAudioElement;
export function buffer(buf: RefBuffer) {
@ -27,18 +25,15 @@ namespace pxsim.SoundMethods {
}
export function play(buf: RefBuffer, volume: number) {
if (!buf || numSoundsPlaying >= soundsLimit) {
if (!buf) {
return Promise.resolve();
}
return new Promise<void>(resolve => {
let url = "data:audio/wav;base64," + btoa(uint8ArrayToString(buf.data))
audio = new Audio(url)
audio.onended = () => {
resolve();
numSoundsPlaying--;
}
numSoundsPlaying++;
audio.play()
audio.onended = () => resolve();
audio.onpause = () => resolve();
audio.play();
})
}
@ -46,8 +41,8 @@ namespace pxsim.SoundMethods {
return new Promise<void>(resolve => {
if (audio) {
audio.pause();
numSoundsPlaying--;
}
resolve();
})
}