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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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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;
}
}