From 4f44238237fc8c59e6376756fbbd96f026d4e402 Mon Sep 17 00:00:00 2001 From: Peli de Halleux Date: Tue, 24 Oct 2017 20:16:33 -0700 Subject: [PATCH] use fixed instances for motors --- libs/core/_locales/core-jsdoc-strings.json | 25 +-- libs/core/_locales/core-strings.json | 19 +- libs/core/output.ts | 222 ++++++++++----------- 3 files changed, 133 insertions(+), 133 deletions(-) diff --git a/libs/core/_locales/core-jsdoc-strings.json b/libs/core/_locales/core-jsdoc-strings.json index 24fc79ec..043f085c 100644 --- a/libs/core/_locales/core-jsdoc-strings.json +++ b/libs/core/_locales/core-jsdoc-strings.json @@ -45,27 +45,22 @@ "input.remoteCenter": "Remote beacon (center) button.", "input.remoteTopLeft": "Remote top-left button.", "input.remoteTopRight": "Remote top-right button.", + "output.Motor.off": "Power off the motor.", + "output.Motor.on": "Power on the motor.", + "output.Motor.onForTime": "Power on the motor for a specified number of milliseconds.", + "output.Motor.onForTime|param|brake": "whether or not to use the brake", + "output.Motor.onForTime|param|ms": "the number of milliseconds to turn the motor on, eg: 500", + "output.Motor.onForTime|param|power": "the motor power level from ``-100`` to ``100``, eg: 50", + "output.Motor.on|param|power": "the motor power level from ``-100`` to ``100``, eg: 50", + "output.Motor.setPower": "Sets the motor power level from ``-100`` to ``100``.", + "output.Motor.setPower|param|power": "the desired speed to use. eg: 50", + "output.Motor.speed": "Gets motor actual speed.", "output.createBuffer": "Create a new zero-initialized buffer.", "output.createBuffer|param|size": "number of bytes in the buffer", - "output.getCurrentSpeed": "Get motor speed.", - "output.getCurrentSpeed|param|out": "the output connection that the motor is connected to", "output.pattern": "Pattern block.", "output.pattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green", - "output.powerMotor": "Switch the motor on or off.", - "output.powerMotor|param|on": "1 to turn the motor on, 0 to turn it off", - "output.powerMotor|param|out": "the output connection that the motor is connected to", - "output.setPower": "Set motor power.", - "output.setPower|param|out": "the output connection that the motor is connected to", - "output.setPower|param|power": "the desired power to use. eg: 100", - "output.setSpeed": "Set motor speed.", - "output.setSpeed|param|out": "the output connection that the motor is connected to", - "output.setSpeed|param|speed": "the desired speed to use. eg: 100", "output.setStatusLight": "Set lights.", "output.setStatusLight|param|pattern": "the lights pattern to use.", - "output.turn": "Turn a motor on for a specified number of milliseconds.", - "output.turn|param|ms": "the number of milliseconds to turn the motor on, eg: 500", - "output.turn|param|out": "the output connection that the motor is connected to", - "output.turn|param|useBrake": "whether or not to use the brake, defaults to false", "screen.clear": "Clear screen and reset font to normal.", "screen.doubleIcon": "Double size of an icon.", "screen.drawIcon": "Draw an icon on the screen.", diff --git a/libs/core/_locales/core-strings.json b/libs/core/_locales/core-strings.json index 7d3dea98..fddf7468 100644 --- a/libs/core/_locales/core-strings.json +++ b/libs/core/_locales/core-strings.json @@ -12,6 +12,11 @@ "LightsPattern.RedFlash|block": "Flashing Red", "LightsPattern.RedPulse|block": "Pulsing Red", "LightsPattern.Red|block": "Red", + "Output.ALL|block": "All", + "Output.A|block": "A", + "Output.B|block": "B", + "Output.C|block": "C", + "Output.D|block": "D", "TouchSensorEvent.Bumped|block": "bumped", "TouchSensorEvent.Released|block": "released", "TouchSensorEvent.Touched|block": "touched", @@ -57,13 +62,17 @@ "input.ultrasonic3|block": "ultrasonic sensor 3", "input.ultrasonic4|block": "ultrasonic sensor 4", "input|block": "input", - "output.getCurrentSpeed|block": "motor %out|speed", + "output.Motor.off|block": "%motor|OFF then brake %brake", + "output.Motor.onForTime|block": "%motor|ON at power %power|for %ms=timePicker|ms then brake %brake", + "output.Motor.on|block": "%motor|ON at power %power", + "output.Motor.setPower|block": "%motor|set power to %speed", + "output.Motor.speed|block": "%motor|speed", + "output.motorA|block": "motor A", + "output.motorB|block": "motor B", + "output.motorC|block": "motor C", + "output.motorD|block": "motor D", "output.pattern|block": "%pattern", - "output.powerMotor|block": "power motor %out|%on", - "output.setPower|block": "set motor %out| power to %power", - "output.setSpeed|block": "set motor %out| speed to %speed", "output.setStatusLight|block": "set status light %pattern=led_pattern", - "output.turn|block": "turn motor %out| on for %ms=timePicker|milliseconds", "output|block": "output", "screen.print|block": "print %text| at x: %x| y: %y", "screen|block": "screen", diff --git a/libs/core/output.ts b/libs/core/output.ts index d84de427..1b73ca8a 100644 --- a/libs/core/output.ts +++ b/libs/core/output.ts @@ -1,8 +1,13 @@ enum Output { + //% block="A" A = 0x01, + //% block="B" B = 0x02, + //% block="C" C = 0x04, + //% block="D" D = 0x08, + //% block="All" ALL = 0x0f } @@ -15,7 +20,6 @@ enum OutputType { namespace output { let pwmMM: MMap let motorMM: MMap - let currentSpeed: number[] = [] const enum MotorDataOff { TachoCounts = 0, // int32 @@ -31,19 +35,13 @@ namespace output { if (!pwmMM) control.fail("no PWM file") motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0) - stop(Output.ALL) - - currentSpeed[Output.A] = -1; - currentSpeed[Output.B] = -1; - currentSpeed[Output.C] = -1; - currentSpeed[Output.D] = -1; - currentSpeed[Output.ALL] = -1; + outputStopAll() let buf = output.createBuffer(1) buf[0] = DAL.opProgramStart writePWM(buf) } - + function writePWM(buf: Buffer): void { init() pwmMM.write(buf) @@ -55,81 +53,118 @@ namespace output { } function mkCmd(out: Output, cmd: number, addSize: number) { - let b = createBuffer(2 + addSize) + const b = createBuffer(2 + addSize) b.setNumber(NumberFormat.UInt8LE, 0, cmd) b.setNumber(NumberFormat.UInt8LE, 1, out) return b } - /** - * Turn a motor on for a specified number of milliseconds. - * @param out the output connection that the motor is connected to - * @param ms the number of milliseconds to turn the motor on, eg: 500 - * @param useBrake whether or not to use the brake, defaults to false - */ - //% blockId=output_turn block="turn motor %out| on for %ms=timePicker|milliseconds" - //% weight=100 group="Motors" - export function turn(out: Output, ms: number, useBrake = false) { - // TODO: use current power / speed configuration - output.step(out, { - speed: 100, - step1: 0, - step2: ms, - step3: 0, - useSteps: false, - useBrake: useBrake - }) - } + function outputStopAll() { + const b = mkCmd(Output.ALL, DAL.opOutputStop, 1) + b.setNumber(NumberFormat.UInt8LE, 2, 0) + writePWM(b) + } - - /** - * Switch the motor on or off. - * @param out the output connection that the motor is connected to - * @param on 1 to turn the motor on, 0 to turn it off - */ - //% blockId=outputMotorPowerOnOff block="power motor %out|%on" - //% weight=90 group="Motors" - //% on.fieldEditor="toggleonoff" - export function powerMotor(out: Output, on: boolean, useBrake = false) { - if (on) { - output.start(out); - } else { - output.stop(out, useBrake); + //% fixedInstances + export class Motor extends control.Component { + port: Output; + constructor(port: Output) { + super(); + this.port = port; } + + /** + * Power off the motor. + * @param motor the motor to turn off + */ + //% blockId=outputMotorOf block="%motor|OFF then brake %brake" + //% brake.fieldEditor=toggleonoff + //% weight=100 group="Motors" blockGap=8 + off(brake = false) { + const b = mkCmd(this.port, DAL.opOutputStop, 1) + b.setNumber(NumberFormat.UInt8LE, 2, brake ? 1 : 0) + writePWM(b) + } + + /** + * Power on the motor. + * @param motor the motor to turn on + * @param power the motor power level from ``-100`` to ``100``, eg: 50 + */ + //% blockId=outputMotorOn block="%motor|ON at power %power" + //% power.min=-100 power.max=100 + //% weight=99 group="Motors" blockGap=8 + on(power: number = 50) { + this.setPower(power); + const b = mkCmd(this.port, DAL.opOutputStart, 0) + writePWM(b); + } + + /** + * Power on the motor for a specified number of milliseconds. + * @param motor the motor to turn on + * @param power the motor power level from ``-100`` to ``100``, eg: 50 + * @param ms the number of milliseconds to turn the motor on, eg: 500 + * @param brake whether or not to use the brake + */ + //% blockId=outputMotorOnForTime block="%motor|ON at power %power|for %ms=timePicker|ms then brake %brake" + //% power.min=-100 power.max=100 + //% brake.fieldEditor=toggleonoff + //% weight=98 group="Motors" blockGap=8 + onForTime(power: number, ms: number, brake = false) { + step(this.port, { + speed: power, + step1: 0, + step2: ms, + step3: 0, + useSteps: false, + useBrake: brake + }) + } + + /** + * Sets the motor power level from ``-100`` to ``100``. + * @param motor the output connection that the motor is connected to + * @param power the desired speed to use. eg: 50 + */ + //% blockId=motorSetPower block="%motor|set power to %speed" + //% weight=60 group="Motors" + //% speed.min=-100 speed.max=100 + setPower(power: number) { + const b = mkCmd(this.port, DAL.opOutputPower, 1) + b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, power)) + writePWM(b) + } + + /** + * Gets motor actual speed. + * @param motor the port which connects to the motor + */ + //% blockId=motorSpeed block="%motor|speed" + //% weight=50 group="Motors" blockGap=8 + speed() { + return getMotorData(this.port).actualSpeed; + } } - /** - * Turn motor off. - * @param out the output connection that the motor is connected to - */ - //% blockId=output_stop block="turn motor %out|off" - //% weight=90 group="Motors" - //% deprecated=1 - export function stop(out: Output, useBrake = false) { - let b = mkCmd(out, DAL.opOutputStop, 1) - b.setNumber(NumberFormat.UInt8LE, 2, useBrake ? 1 : 0) - writePWM(b) - } + //% whenUsed fixedInstance block="motor B" + export const motorB = new Motor(Output.B); - /** - * Turn motor on. - * @param out the output connection that the motor is connected to - */ - //% blockId=output_start block="turn motor %out|on" - //% weight=95 group="Motors" - //% deprecated=1 - export function start(out: Output) { - if (currentSpeed[out] == -1) setSpeed(out, 50) - let b = mkCmd(out, DAL.opOutputStart, 0) - writePWM(b) - } + //% whenUsed fixedInstance block="motor C" + export const motorC = new Motor(Output.C); - export function reset(out: Output) { + //% whenUsed fixedInstance block="motor A" + export const motorA = new Motor(Output.A); + + //% whenUsed fixedInstance block="motor D" + export const motorD = new Motor(Output.D); + + function reset(out: Output) { let b = mkCmd(out, DAL.opOutputReset, 0) writePWM(b) } - export function clearCount(out: Output) { + function clearCount(out: Output) { let b = mkCmd(out, DAL.opOutputClearCount, 0) writePWM(b) for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) { @@ -147,14 +182,14 @@ namespace output { return 0 } - export interface MotorData { + interface MotorData { actualSpeed: number; // -100..+100 tachoCount: number; count: number; } // only a single output at a time - export function getMotorData(out: Output): MotorData { + function getMotorData(out: Output): MotorData { let buf = motorMM.slice(outOffset(out), MotorDataOff.Size) return { actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed), @@ -163,52 +198,13 @@ namespace output { } } - /** - * Get motor speed. - * @param out the output connection that the motor is connected to - */ - //% blockId=output_getCurrentSpeed block="motor %out|speed" - //% weight=70 group="Motors" - export function getCurrentSpeed(out: Output) { - return getMotorData(out).actualSpeed; - } - - /** - * Set motor speed. - * @param out the output connection that the motor is connected to - * @param speed the desired speed to use. eg: 100 - */ - //% blockId=output_setSpeed block="set motor %out| speed to %speed" - //% weight=81 group="Motors" - //% speed.min=-100 speed.max=100 - export function setSpeed(out: Output, speed: number) { - currentSpeed[out] = speed; - let b = mkCmd(out, DAL.opOutputSpeed, 1) - b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, speed)) - writePWM(b) - } - - /** - * Set motor power. - * @param out the output connection that the motor is connected to - * @param power the desired power to use. eg: 100 - */ - //% blockId=output_setPower block="set motor %out| power to %power" - //% weight=80 group="Motors" - //% power.min=-100 power.max=100 - export function setPower(out: Output, power: number) { - let b = mkCmd(out, DAL.opOutputPower, 1) - b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, power)) - writePWM(b) - } - - export function setPolarity(out: Output, polarity: number) { + function setPolarity(out: Output, polarity: number) { let b = mkCmd(out, DAL.opOutputPolarity, 1) b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-1, 1, polarity)) writePWM(b) } - export interface StepOptions { + interface StepOptions { power?: number; speed?: number; // either speed or power has to be present step1: number; @@ -218,7 +214,7 @@ namespace output { useBrake?: boolean; } - export function step(out: Output, opts: StepOptions) { + function step(out: Output, opts: StepOptions) { let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed let speed = opts.speed if (speed == null) {