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Motors cleanup (#192)

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* refactoring

* moving chassis into separate project

* added set motors
This commit is contained in:
Peli de Halleux
2018-01-05 16:02:52 -08:00
committed by GitHub
parent 76ff39605a
commit 64d6c2b090
11 changed files with 229 additions and 89 deletions
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121
libs/core/output.ts
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@ -204,7 +204,7 @@ namespace motors {
* Sets the speed of the motor.
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=motorSetSpeed block="set speed of %motor|to %speed|%"
//% blockId=motorSetSpeed block="set %motor|speed to %speed|%"
//% on.fieldEditor=toggleonoff
//% weight=99 blockGap=8
//% speed.min=-100 speed.max=100
@ -219,16 +219,16 @@ namespace motors {
}
/**
* Moves the motor by a number of rotations, degress or seconds
* Sets the motor speed for limited time or distance
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
* @param value the move quantity, eg: 2
* @param unit the meaning of the value
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=motorMove block="move %motor|for %value|%unit|at %speed|%"
//% blockId=motorMove block="set %motor|speed to %speed|%|for %value|%unit"
//% weight=98 blockGap=8
//% speed.min=-100 speed.max=100
//% group="Motion"
move(value: number, unit: MoveUnit, speed: number) {
setSpeedFor(speed: number, value: number, unit: MoveUnit) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) {
@ -333,7 +333,7 @@ namespace motors {
//% blockId=motorSpeed block="%motor|speed"
//% weight=72
//% blockGap=8
//% group="Sensors"
//% group="Counters"
speed(): number {
this.init();
return getMotorData(this._port).actualSpeed;
@ -345,7 +345,8 @@ namespace motors {
*/
//% blockId=motorAngle block="%motor|angle"
//% weight=70
//% group="Sensors"
//% blockGap=8
//% group="Counters"
angle(): number {
this.init();
return getMotorData(this._port).count;
@ -359,7 +360,7 @@ namespace motors {
//% blockId=motorTachoCount block="%motor|tacho"
//% weight=69
//% blockGap=8
//% group="Sensors"
//% group="Counters"
tacho(): number {
this.init();
return getMotorData(this._port).tachoCount;
@ -371,7 +372,7 @@ namespace motors {
//% blockId=motorClearCount block="%motor|clear counts"
//% weight=68
//% blockGap=8
//% group="Sensors"
//% group="Counters"
clearCounts() {
this.init();
const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
@ -418,13 +419,9 @@ namespace motors {
//% fixedInstances
export class SynchedMotorPair extends MotorBase {
private wheelRadius: number;
private baseLength: number;
constructor(ports: Output) {
super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
this.wheelRadius = 3;
this.baseLength = 12;
this.markUsed();
}
@ -460,24 +457,41 @@ namespace motors {
});
}
/**
* The Move Tank block can make a robot drive forward, backward, turn, or stop.
* Use the Move Tank block for robot vehicles that have two Large Motors,
* with one motor driving the left side of the vehicle and the other the right side.
* You can make the two motors go at different speeds or in different directions
* to make your robot turn.
* @param value the amount of movement, eg: 2
* @param unit
* @param speedLeft the speed on the left motor, eg: 50
* @param speedRight the speed on the right motor, eg: 50
*/
//% blockId=motorPairTank block="tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit"
//% weight=9 blockGap=8
//% blockId=motorPairTank block="tank %motors|%speedLeft|%|%speedRight|%"
//% weight=20 blockGap=8
//% group="Sync Motion"
tank(speedLeft: number, speedRight: number) {
this.tankFor(speedLeft, speedRight, 0, MoveUnit.Degrees);
}
/**
* The Move Tank block can make a robot drive forward, backward, turn, or stop.
* Use the Move Tank block for robot vehicles that have two Large Motors,
* with one motor driving the left side of the vehicle and the other the right side.
* You can make the two motors go at different speeds or in different directions
* to make your robot turn.
* @param speedLeft the speed on the left motor, eg: 50
* @param speedRight the speed on the right motor, eg: 50
* @param value the amount of movement, eg: 2
* @param unit the unit of the value
*/
//% blockId=motorPairTankFor block="tank %motors|%speedLeft|%|%speedRight|%|for %value|%unit"
//% weight=19
//% speedLeft.min=-100 speedLeft=100
//% speedRight.min=-100 speedRight=100
//% inlineInputMode=inline
//% group="Chassis"
tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
//% group="Sync Motion"
tankFor(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
this.init();
speedLeft = Math.clamp(-100, 100, speedLeft >> 0);
@ -487,42 +501,10 @@ namespace motors {
const turnRatio = speedLeft == speed
? (100 - speedRight / speedLeft * 100)
: (speedLeft / speedRight * 100 - 100);
this.steer(turnRatio, speed, value, unit);
this.steerFor(turnRatio, speed, value, unit);
}
/**
* Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)
* using a unicycle model.
* @param speed speed of the center point between motors, eg: 10
* @param rotationSpeed rotation of the robot around the center point, eg: 30
* @param value the amount of movement, eg: 2
* @param unit
*/
//% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit"
//% inlineInputMode=inline
//% group="Chassis"
//% weight=8 blockGap=8
drive(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
this.init();
// speed is expressed in %
const R = this.wheelRadius; // cm
const L = this.baseLength; // cm
const PI = 3.14;
const maxw = 170 / 60 * 2 * PI; // rad / s
const maxv = maxw * R; // cm / s
// speed is cm / s
const v = speed; // cm / s
const w = rotationSpeed / 360 * 2 * PI; // rad / s
const vr = (2 * v + w * L) / (2 * R); // rad / s
const vl = (2 * v - w * L) / (2 * R); // rad / s
const sr = vr / maxw * 100; // %
const sl = vl / maxw * 100; // %
this.tank(sr, sl, value, unit)
}
/**
* Turns the motor and the follower motor by a number of rotations
@ -531,12 +513,28 @@ namespace motors {
* @param value the move quantity, eg: 2
* @param unit the meaning of the value
*/
//% blockId=motorPairTurn block="steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit"
//% blockId=motorPairSteer block="steer %chassis|turn ratio %turnRatio|speed %speed|%"
//% weight=7 blockGap=8
//% turnRatio.min=-200 turnRatio=200
//% inlineInputMode=inline
//% group="Sync Motion"
steer(turnRatio: number, speed: number) {
this.steer(turnRatio, speed);
}
/**
* Turns the motor and the follower motor by a number of rotations
* @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
* @param value the move quantity, eg: 2
* @param unit the meaning of the value
*/
//% blockId=motorPairSteerFor block="steer %chassis|turn ratio %turnRatio|speed %speed|%|for %value|%unit"
//% weight=6 blockGap=8
//% turnRatio.min=-200 turnRatio=200
//% inlineInputMode=inline
//% group="Chassis"
steer(turnRatio: number, speed: number, value: number, unit: MoveUnit) {
//% group="Sync Motion"
steerFor(turnRatio: number, speed: number, value: number, unit: MoveUnit) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) {
@ -571,17 +569,6 @@ namespace motors {
});
}
/**
* Sets the wheels radius and base length of a directional drive robot
* @param wheelRadius
* @param baseLength
*/
//% group="Chassis"
setDimensions(wheelRadius: number, baseLength: number): void {
this.wheelRadius = wheelRadius;
this.baseLength = baseLength;
}
/**
* Returns the name(s) of the motor
*/