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

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* 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
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20
docs/reference/motors/motor/set-run-acceleration-ramp.md Normal file
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# Set Run Acceleration Ramp
```sig
motors.largeD.setRunAccelerationRamp(1, MoveUnit.Seconds)
```
## Examples
```blocks
brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
motors.largeB.run(50, 6, MoveUnit.Rotations)
})
brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
motors.largeC.run(50, 6, MoveUnit.Seconds)
})
motors.largeB.setRunAccelerationRamp(360, MoveUnit.Degrees)
motors.largeB.setRunDecelerationRamp(360, MoveUnit.Degrees)
motors.largeC.setRunAccelerationRamp(2, MoveUnit.Seconds)
motors.largeC.setRunDecelerationRamp(2, MoveUnit.Seconds)
```