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use fixed instances for motors

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This commit is contained in:
Peli de Halleux
2017-10-24 20:16:33 -07:00
parent c8ffa0ded7
commit 4f44238237
3 changed files with 133 additions and 133 deletions
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222
libs/core/output.ts
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@ -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) {