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Merge branch 'master' into initial_sim

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This commit is contained in:
Sam El-Husseini 2017-12-18 13:21:35 -08:00
commit 5be3b31e00
3 changed files with 125 additions and 66 deletions
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66
docs/tests/motors.ts Normal file
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@ -0,0 +1,66 @@
let errors: string[] = [];
let tachoB = 0;
let tachoC = 0;
function assert(name: string, condition: boolean) {
if (!condition) {
errors.push(name)
}
}
function assertClose(name: string, expected: number, actual: number, tolerance = 10) {
assert(name + ` ${expected}/${actual}`, Math.abs(expected - actual) < tolerance);
}
function test(name: string, f: () => void, check?: () => void) {
motors.stopAllMotors();
loops.pause(500);
tachoB = motors.largeB.tachoCount()
tachoC = motors.largeB.tachoCount()
brick.clearScreen()
brick.print(name, 0, 0)
f();
loops.pause(3000);
motors.stopAllMotors();
motors.largeB.setReversed(false);
motors.largeC.setReversed(false);
motors.mediumA.setReversed(false);
loops.pause(1000);
if (check)
check()
}
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
test("lgB set speed 100", () => {
motors.largeB.setSpeed(100)
});
test("lgB set speed (reversed)", () => {
motors.largeB.setReversed(true)
motors.largeB.setSpeed(100)
})
test("lgBC set speed 100", () => {
motors.largeBC.setSpeed(100)
})
test("lgBC steer 50% 2x", () => {
motors.largeBC.steer(50, 50, 2, MoveUnit.Rotations)
}, () => {
assertClose("largeB", 720, motors.largeB.tachoCount() - tachoB)
});
test("lgBC steer 50% 500deg", () => {
motors.largeBC.steer(50, 50, 500, MoveUnit.Degrees)
}, () => {
assertClose("largeB", 500, motors.largeB.tachoCount() - tachoB)
});
test("lgBC steer 50% 2s", () => {
motors.largeBC.steer(50, 50, 2, MoveUnit.Seconds)
})
test("lgBC tank 50% 2s", () => {
motors.largeBC.tank(50, 50, 720, MoveUnit.Degrees)
})
brick.clearScreen()
brick.print(`${errors.length} errors`, 0, 0)
let l = 1;
for(const error of errors)
brick.print(`error: ${error}`, 0, l++ * 12)
})

1
libs/core/_locales/core-jsdoc-strings.json
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@ -55,7 +55,6 @@
"motors.Motor.move|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50", "motors.Motor.move|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.Motor.move|param|unit": "the meaning of the value", "motors.Motor.move|param|unit": "the meaning of the value",
"motors.Motor.move|param|value": "the move quantity, eg: 2", "motors.Motor.move|param|value": "the move quantity, eg: 2",
"motors.Motor.port": "Gets the port where this motor is connected",
"motors.Motor.reset": "Resets the motor(s).", "motors.Motor.reset": "Resets the motor(s).",
"motors.Motor.setBrake": "Sets the automatic brake on or off when the motor is off", "motors.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
"motors.Motor.setBrake|param|brake": "a value indicating if the motor should break when off", "motors.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",

124
libs/core/output.ts
View File

@ -96,31 +96,31 @@ namespace motors {
export class Motor extends control.Component { export class Motor extends control.Component {
protected _port: Output; protected _port: Output;
protected _brake: boolean; protected _brake: boolean;
private _initialized: boolean;
constructor(port: Output) { private _init: () => void;
private _setSpeed: (speed: number) => void;
private _move: (steps: boolean, stepsOrTime: number, speed: number) => void;
constructor(port: Output, init: () => void, setSpeed: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
super(); super();
this._port = port; this._port = port;
this._brake = false; this._brake = false;
this._initialized = false;
this._init = init;
this._setSpeed = setSpeed;
this._move = move;
} }
/** /**
* Lazy initialization code * Lazy initialization code
*/
protected __init() {
}
/**
* Gets the port where this motor is connected
*/ */
//% protected init() {
//% group="Motion" if (!this._initialized) {
port(): Output { this._initialized = true;
this.__init(); this._init();
return this._port; }
} }
/** /**
* Sets the automatic brake on or off when the motor is off * Sets the automatic brake on or off when the motor is off
* @param brake a value indicating if the motor should break when off * @param brake a value indicating if the motor should break when off
@ -130,9 +130,9 @@ namespace motors {
//% weight=60 blockGap=8 //% weight=60 blockGap=8
//% group="Motion" //% group="Motion"
setBrake(brake: boolean) { setBrake(brake: boolean) {
this.__init(); this.init();
this._brake = brake; this._brake = brake;
} }
/** /**
* Reverses the motor polarity * Reverses the motor polarity
@ -142,18 +142,18 @@ namespace motors {
//% weight=59 //% weight=59
//% group="Motion" //% group="Motion"
setReversed(reversed: boolean) { setReversed(reversed: boolean) {
this.__init(); this.init();
const b = mkCmd(this._port, DAL.opOutputPolarity, 1) const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1); b.setNumber(NumberFormat.Int8LE, 2, reversed ? 0 : 1);
writePWM(b) writePWM(b)
} }
/** /**
* Stops the motor(s). * Stops the motor(s).
*/ */
//% //%
stop() { stop() {
this.__init(); this.init();
stop(this._port, this._brake); stop(this._port, this._brake);
} }
@ -162,7 +162,7 @@ namespace motors {
*/ */
//% //%
reset() { reset() {
this.__init(); this.init();
reset(this._port); reset(this._port);
} }
@ -176,17 +176,14 @@ namespace motors {
//% speed.min=-100 speed.max=100 //% speed.min=-100 speed.max=100
//% group="Motion" //% group="Motion"
setSpeed(speed: number) { setSpeed(speed: number) {
this.__init(); this.init();
speed = Math.clamp(-100, 100, speed >> 0); speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) // always stop if (!speed) // always stop
this.stop(); this.stop();
else else
this.__setSpeed(speed); this._setSpeed(speed);
} }
protected __setSpeed(speed: number) {
}
/** /**
* Moves the motor by a number of rotations, degress or seconds * Moves the motor by a number of rotations, degress or seconds
* @param value the move quantity, eg: 2 * @param value the move quantity, eg: 2
@ -198,7 +195,7 @@ namespace motors {
//% speed.min=-100 speed.max=100 //% speed.min=-100 speed.max=100
//% group="Motion" //% group="Motion"
move(value: number, unit: MoveUnit, speed: number) { move(value: number, unit: MoveUnit, speed: number) {
this.__init(); this.init();
speed = Math.clamp(-100, 100, speed >> 0); speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) { if (!speed) {
this.stop(); this.stop();
@ -221,20 +218,16 @@ namespace motors {
break; break;
} }
this.__move(useSteps, stepsOrTime, speed); this._move(useSteps, stepsOrTime, speed);
} }
protected __move(steps: boolean, stepsOrTime: number, speed: number) {
}
} }
//% fixedInstances //% fixedInstances
export class SingleMotor extends Motor { export class SingleMotor extends Motor {
private _large: boolean; private _large: boolean;
private _initialized: boolean;
constructor(port: Output, large: boolean) { constructor(port: Output, large: boolean) {
super(port); super(port, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
this._large = large; this._large = large;
this.markUsed(); this.markUsed();
} }
@ -243,23 +236,23 @@ namespace motors {
motors.__motorUsed(this._port, this._large); motors.__motorUsed(this._port, this._large);
} }
protected __init() { private __init() {
if (!this._initialized) { // specify motor size on this port
this._initialized = true; const b = mkCmd(outOffset(this._port), DAL.opOutputSetType, 1)
// specify motor size on this port b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
const b = mkCmd(this._port, DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
writePWM(b)
}
}
protected __setSpeed(speed: number) {
const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
b.setNumber(NumberFormat.Int8LE, 2, speed)
writePWM(b) writePWM(b)
} }
protected __move(steps: boolean, stepsOrTime: number, speed: number) { private __setSpeed(speed: number) {
const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
b.setNumber(NumberFormat.Int8LE, 2, speed)
writePWM(b)
if (speed) {
writePWM(mkCmd(this._port, DAL.opOutputStart, 0))
}
}
private __move(steps: boolean, stepsOrTime: number, speed: number) {
step(this._port, { step(this._port, {
useSteps: steps, useSteps: steps,
step1: 0, step1: 0,
@ -278,7 +271,7 @@ namespace motors {
//% weight=72 blockGap=8 //% weight=72 blockGap=8
//% group="Sensors" //% group="Sensors"
speed(): number { speed(): number {
this.__init(); this.init();
return getMotorData(this._port).actualSpeed; return getMotorData(this._port).actualSpeed;
} }
@ -290,7 +283,7 @@ namespace motors {
//% weight=71 blockGap=8 //% weight=71 blockGap=8
//% group="Sensors" //% group="Sensors"
count(): number { count(): number {
this.__init(); this.init();
return getMotorData(this._port).count; return getMotorData(this._port).count;
} }
@ -302,7 +295,7 @@ namespace motors {
//% weight=70 //% weight=70
//% group="Sensors" //% group="Sensors"
tachoCount(): number { tachoCount(): number {
this.__init(); this.init();
return getMotorData(this._port).tachoCount; return getMotorData(this._port).tachoCount;
} }
@ -311,7 +304,7 @@ namespace motors {
*/ */
//% group="Motion" //% group="Motion"
clearCount() { clearCount() {
this.__init(); this.init();
const b = mkCmd(this._port, DAL.opOutputClearCount, 0) const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
writePWM(b) writePWM(b)
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) { for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
@ -348,10 +341,9 @@ namespace motors {
//% fixedInstances //% fixedInstances
export class SynchedMotorPair extends Motor { export class SynchedMotorPair extends Motor {
private _initialized: boolean;
constructor(ports: Output) { constructor(ports: Output) {
super(ports); super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
this.markUsed(); this.markUsed();
} }
@ -359,16 +351,17 @@ namespace motors {
motors.__motorUsed(this._port, true); motors.__motorUsed(this._port, true);
} }
protected __init() { private __init() {
if (!this._initialized) { for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
this._initialized = true; if (this._port & (1 << i)) {
const b = mkCmd(this._port, DAL.opOutputSetType, 1) const b = mkCmd(outOffset(1 << i), DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor
writePWM(b) writePWM(b)
}
} }
} }
protected __setSpeed(speed: number) { private __setSpeed(speed: number) {
syncMotors(this._port, { syncMotors(this._port, {
speed: speed, speed: speed,
turnRatio: 0, turnRatio: 0,
@ -376,7 +369,7 @@ namespace motors {
}) })
} }
protected __move(steps: boolean, stepsOrTime: number, speed: number) { private __move(steps: boolean, stepsOrTime: number, speed: number) {
syncMotors(this._port, { syncMotors(this._port, {
useSteps: steps, useSteps: steps,
speed: speed, speed: speed,
@ -384,7 +377,7 @@ namespace motors {
stepsOrTime: stepsOrTime, stepsOrTime: stepsOrTime,
useBrake: this._brake useBrake: this._brake
}); });
} }
/** /**
* Turns the motor and the follower motor by a number of rotations * Turns the motor and the follower motor by a number of rotations
@ -399,6 +392,7 @@ namespace motors {
//% inlineInputMode=inline //% inlineInputMode=inline
//% group="Chassis" //% group="Chassis"
steer(steering: number, speed: number, value: number, unit: MoveUnit) { steer(steering: number, speed: number, value: number, unit: MoveUnit) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0); speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) { if (!speed) {
stop(this._port, this._brake); stop(this._port, this._brake);