c_meyer/pxt-ev3
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Support for smooth acceleration/deceleration in run (#900)

Browse Source 
* removed logging

* removing more logging

* always use step for single/multiple motors

* refactored schedule

* account for accel ramp up and down

* added default acc/decel

* rounding speed/angle

* remove hack

* use acceleration time in run too

* handle missing case

* adding notes on motors

* adding sample

* fixed ramp simulation

* clear defaults

* some docs, more later

* adding basic examples

* remove debug msg

* clean json

* added move schedule

* docs

* basic docs
This commit is contained in:
Peli de Halleux
2019-09-02 20:57:23 -07:00
committed by GitHub
parent 7e9cc791ec
commit 56bbcde299
7 changed files with 281 additions and 109 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
docs/reference/motors/motor/run.md
View File

@ -6,9 +6,9 @@ Set the rotation speed of the motor as a percentage of maximum speed.
motors.largeA.run(50)
```
The speed setting is a pecentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
If you use just the **speed** number, the motor runs continously and won't stop unless you tell it to. You can also give a value for a certain amount of distance you want the motor to rotate for. The **value** can be an amount of time, a turn angle in degrees, or a number of full rotations.
If you use just the **speed** number, the motor runs continuously and won't stop unless you tell it to. You can also give a value for a certain amount of distance you want the motor to rotate for. The **value** can be an amount of time, a turn angle in degrees, or a number of full rotations.
If you decide to use a **value** of rotation distance, you need to choose a type of movement **unit**.
@ -30,8 +30,8 @@ Here is how you use each different movement unit to run the motor for a fixed ro
// Run motor for 700 Milliseconds.
motors.largeA.run(25, 700, MoveUnit.MilliSeconds);
// Run motor for 700 Milliseconds again but no units specified.
motors.largeA.run(25, 700);
// Run motors B and C for 700 Milliseconds again but no units specified.
motors.largeBC.run(25, 700);
// Run the motor for 45 seconds
motors.largeA.run(50, 45, MoveUnit.Seconds);
@ -61,6 +61,14 @@ motors.largeB.run(-25)
## ~
## Multiple motors
When using **run** with multiple motors, there is no guarantee that their speed will stay in sync. Use [tank](/reference/motors/tank) or [steer](/reference/motors/steer) for synchronized motor operations.
```blocks
motors.largeBC.run(50)
```
## Examples
### Drive the motor for 20 seconds