Support for smooth acceleration/deceleration in run (#900)
* 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
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@ -6,9 +6,9 @@ Set the rotation speed of the motor as a percentage of maximum speed.
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motors.largeA.run(50)
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```
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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.
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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.
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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.
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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.
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If you decide to use a **value** of rotation distance, you need to choose a type of movement **unit**.
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@ -30,8 +30,8 @@ Here is how you use each different movement unit to run the motor for a fixed ro
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// Run motor for 700 Milliseconds.
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motors.largeA.run(25, 700, MoveUnit.MilliSeconds);
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// Run motor for 700 Milliseconds again but no units specified.
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motors.largeA.run(25, 700);
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// Run motors B and C for 700 Milliseconds again but no units specified.
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motors.largeBC.run(25, 700);
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// Run the motor for 45 seconds
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motors.largeA.run(50, 45, MoveUnit.Seconds);
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@ -61,6 +61,14 @@ motors.largeB.run(-25)
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## ~
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## Multiple motors
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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.
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```blocks
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motors.largeBC.run(50)
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```
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## Examples
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### Drive the motor for 20 seconds
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