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refactoring motors wiht base class (#104)

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Peli de Halleux 2017-12-17 22:47:13 -08:00 committed by GitHub
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3 changed files with 156 additions and 148 deletions
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33
libs/core/_locales/core-jsdoc-strings.json
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@ -51,34 +51,31 @@
"control.raiseEvent": "Announce that an event happened to registered handlers.",
"control.raiseEvent|param|src": "ID of the Component that generated the event",
"control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
"motors.Motor.clearCount": "Clears the motor count",
"motors.Motor.count": "Gets motor step count.",
"motors.Motor.move": "Moves the motor by a number of rotations, degress or seconds",
"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|value": "the move quantity, eg: 2",
"motors.Motor.port": "Gets the port where this motor is connected",
"motors.Motor.reset": "Resets the motor.",
"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|param|brake": "a value indicating if the motor should break when off",
"motors.Motor.setReversed": "Reverses the motor polarity",
"motors.Motor.setSpeed": "Sets the speed of the motor.",
"motors.Motor.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.Motor.speed": "Gets motor actual speed.",
"motors.Motor.tachoCount": "Gets motor tacho count.",
"motors.SynchedMotorPair.moveSteering": "Turns the motor and the follower motor by a number of rotations",
"motors.SynchedMotorPair.moveSteering|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.SynchedMotorPair.moveSteering|param|steering": "the ratio of power sent to the follower motor, from ``-100`` to ``100``",
"motors.SynchedMotorPair.moveSteering|param|unit": "the meaning of the value",
"motors.SynchedMotorPair.moveSteering|param|value": "the move quantity, eg: 2",
"motors.SynchedMotorPair.moveTank": "The Move Tank block can make a robot drive forward, backward, turn, or stop. \nUse the Move Tank block for robot vehicles that have two Large Motors, \nwith one motor driving the left side of the vehicle and the other the right side. \nYou can make the two motors go at different speeds or in different directions \nto make your robot turn.",
"motors.SynchedMotorPair.moveTank|param|speedRight": "the speed on the right motor, eg: 50",
"motors.SynchedMotorPair.moveTank|param|unit": "@param speedLeft the speed on the left motor, eg: 50",
"motors.SynchedMotorPair.moveTank|param|value": "the amount of movement, eg: 2",
"motors.SynchedMotorPair.setBrake": "Sets the automatic brake on or off when the motor is off",
"motors.SynchedMotorPair.setBrake|param|brake": "a value indicating if the motor should break when off",
"motors.SynchedMotorPair.setSpeed": "Sets the speed of the motor.",
"motors.SynchedMotorPair.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.Motor.stop": "Stops the motor(s).",
"motors.SingleMotor.clearCount": "Clears the motor count",
"motors.SingleMotor.count": "Gets motor step count.",
"motors.SingleMotor.speed": "Gets motor actual speed.",
"motors.SingleMotor.tachoCount": "Gets motor tacho count.",
"motors.SynchedMotorPair.steer": "Turns the motor and the follower motor by a number of rotations",
"motors.SynchedMotorPair.steer|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.SynchedMotorPair.steer|param|steering": "the ratio of power sent to the follower motor, from ``-100`` to ``100``",
"motors.SynchedMotorPair.steer|param|unit": "the meaning of the value",
"motors.SynchedMotorPair.steer|param|value": "the move quantity, eg: 2",
"motors.SynchedMotorPair.tank": "The Move Tank block can make a robot drive forward, backward, turn, or stop. \nUse the Move Tank block for robot vehicles that have two Large Motors, \nwith one motor driving the left side of the vehicle and the other the right side. \nYou can make the two motors go at different speeds or in different directions \nto make your robot turn.",
"motors.SynchedMotorPair.tank|param|speedRight": "the speed on the right motor, eg: 50",
"motors.SynchedMotorPair.tank|param|unit": "@param speedLeft the speed on the left motor, eg: 50",
"motors.SynchedMotorPair.tank|param|value": "the amount of movement, eg: 2",
"motors.stopAllMotors": "Stops all motors",
"output.createBuffer": "Create a new zero-initialized buffer.",
"output.createBuffer|param|size": "number of bytes in the buffer",

13
libs/core/_locales/core-strings.json
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@ -43,18 +43,15 @@
"brick|block": "brick",
"control.raiseEvent|block": "raise event|from %src|with value %value",
"control|block": "control",
"motors.Motor.count|block": "`icons.motorLarge` %motor|count",
"motors.Motor.move|block": "move `icons.motorLarge` %motor|for %value|%unit|at %speed|%",
"motors.Motor.reset|block": "reset `icons.motorLarge` %motor",
"motors.Motor.setBrake|block": "set `icons.motorLarge` %motor|brake %brake",
"motors.Motor.setReversed|block": "set `icons.motorLarge` %motor|reversed %reversed",
"motors.Motor.setSpeed|block": "set speed of `icons.motorLarge` %motor|to %speed|%",
"motors.Motor.speed|block": "`icons.motorLarge` %motor|speed",
"motors.Motor.tachoCount|block": "`icons.motorLarge` %motor|tacho count",
"motors.SynchedMotorPair.moveSteering|block": "move steering %chassis|at %speed|%|steer %turnRadio|%|by %value|%unit",
"motors.SynchedMotorPair.moveTank|block": "move tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit",
"motors.SynchedMotorPair.setBrake|block": "set `icons.motorLarge` %chassis|brake %brake",
"motors.SynchedMotorPair.setSpeed|block": "set speed of `icons.motorLarge` %motor|to %speed|%",
"motors.SingleMotor.count|block": "`icons.motorLarge` %motor|count",
"motors.SingleMotor.speed|block": "`icons.motorLarge` %motor|speed",
"motors.SingleMotor.tachoCount|block": "`icons.motorLarge` %motor|tacho count",
"motors.SynchedMotorPair.steer|block": "steer %chassis|%steering|%|at speed %speed|%|by %value|%unit",
"motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit",
"motors.largeAB|block": "large A+B",
"motors.largeAD|block": "large A+D",
"motors.largeA|block": "large A",

258
libs/core/output.ts
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@ -94,26 +94,20 @@ namespace motors {
//% fixedInstances
export class Motor extends control.Component {
private _port: Output;
private _large: boolean;
private _initialized: boolean;
private _brake: boolean;
constructor(port: Output, large: boolean) {
protected _port: Output;
protected _brake: boolean;
constructor(port: Output) {
super();
this._port = port;
this._large = large;
this._brake = false;
}
private __init() {
if (!this._initialized) {
// specify motor size on this port
const b = mkCmd(this._port, DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
writePWM(b)
}
/**
* Lazy initialization code
*/
protected __init() {
}
/**
@ -122,9 +116,56 @@ namespace motors {
//%
//% group="Motion"
port(): Output {
this.__init();
return this._port;
}
/**
* Sets the automatic brake on or off when the motor is off
* @param brake a value indicating if the motor should break when off
*/
//% blockId=outputMotorSetBrakeMode block="set `icons.motorLarge` %motor|brake %brake"
//% brake.fieldEditor=toggleonoff
//% weight=60 blockGap=8
//% group="Motion"
setBrake(brake: boolean) {
this.__init();
this._brake = brake;
}
/**
* Reverses the motor polarity
*/
//% blockId=motorSetReversed block="set `icons.motorLarge` %motor|reversed %reversed"
//% reversed.fieldEditor=toggleonoff
//% weight=59
//% group="Motion"
setReversed(reversed: boolean) {
this.__init();
const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1);
writePWM(b)
}
/**
* Stops the motor(s).
*/
//%
stop() {
this.__init();
stop(this._port, this._brake);
}
/**
* Resets the motor(s).
*/
//%
reset() {
this.__init();
reset(this._port);
}
/**
* Sets the speed of the motor.
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
@ -137,15 +178,15 @@ namespace motors {
setSpeed(speed: number) {
this.__init();
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) { // always stop
if (!speed) // always stop
this.stop();
} else {
const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
b.setNumber(NumberFormat.Int8LE, 2, speed)
writePWM(b)
}
else
this.__setSpeed(speed);
}
protected __setSpeed(speed: number) {
}
/**
* Moves the motor by a number of rotations, degress or seconds
* @param value the move quantity, eg: 2
@ -157,17 +198,12 @@ namespace motors {
//% speed.min=-100 speed.max=100
//% group="Motion"
move(value: number, unit: MoveUnit, speed: number) {
this.output(value, unit, speed, 0);
}
private output(value: number, unit: MoveUnit, speed: number, turnRatio: number) {
this.__init();
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) {
this.stop();
return;
}
turnRatio = Math.clamp(-200, 200, turnRatio >> 0);
let useSteps: boolean;
let stepsOrTime: number;
switch (unit) {
@ -185,8 +221,42 @@ namespace motors {
break;
}
this.__move(useSteps, stepsOrTime, speed);
}
protected __move(steps: boolean, stepsOrTime: number, speed: number) {
}
}
//% fixedInstances
export class SingleMotor extends Motor {
private _large: boolean;
private _initialized: boolean;
constructor(port: Output, large: boolean) {
super(port);
this._large = large;
}
protected __init() {
if (!this._initialized) {
this._initialized = true;
// specify motor size on this port
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)
}
protected __move(steps: boolean, stepsOrTime: number, speed: number) {
step(this._port, {
useSteps: useSteps,
useSteps: steps,
step1: 0,
step2: stepsOrTime,
step3: 0,
@ -195,41 +265,6 @@ namespace motors {
})
}
/**
* Stops the motor
*/
private stop() {
this.__init();
stop(this._port, this._brake);
}
/**
* Sets the automatic brake on or off when the motor is off
* @param brake a value indicating if the motor should break when off
*/
//% blockId=outputMotorSetBrakeMode block="set `icons.motorLarge` %motor|brake %brake"
//% brake.fieldEditor=toggleonoff
//% weight=60 blockGap=8
//% group="Motion"
setBrake(brake: boolean) {
this.__init();
this._brake = brake;
}
/**
* Reverses the motor polarity
*/
//% blockId=motorSetReversed block="set `icons.motorLarge` %motor|reversed %reversed"
//% reversed.fieldEditor=toggleonoff
//% weight=59
//% group="Motion"
setReversed(reversed: boolean) {
this.__init();
const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1);
writePWM(b)
}
/**
* Gets motor actual speed.
* @param motor the port which connects to the motor
@ -280,104 +315,83 @@ namespace motors {
}
}
}
/**
* Resets the motor.
*/
//% blockId=motorReset block="reset `icons.motorLarge` %motor"
//% weight=20
//% group="Motion"
reset() {
this.__init();
reset(this._port);
}
}
//% whenUsed fixedInstance block="large A"
export const largeA = new Motor(Output.A, true);
export const largeA = new SingleMotor(Output.A, true);
//% whenUsed fixedInstance block="large B"
export const largeB = new Motor(Output.B, true);
export const largeB = new SingleMotor(Output.B, true);
//% whenUsed fixedInstance block="large C"
export const largeC = new Motor(Output.C, true);
export const largeC = new SingleMotor(Output.C, true);
//% whenUsed fixedInstance block="large D"
export const largeD = new Motor(Output.D, true);
export const largeD = new SingleMotor(Output.D, true);
//% whenUsed fixedInstance block="medium A"
export const mediumA = new Motor(Output.A, false);
export const mediumA = new SingleMotor(Output.A, false);
//% whenUsed fixedInstance block="medium B"
export const mediumB = new Motor(Output.B, false);
export const mediumB = new SingleMotor(Output.B, false);
//% whenUsed fixedInstance block="medium C"
export const mediumC = new Motor(Output.C, false);
export const mediumC = new SingleMotor(Output.C, false);
//% whenUsed fixedInstance block="medium D"
export const mediumD = new Motor(Output.D, false);
export const mediumD = new SingleMotor(Output.D, false);
//% fixedInstances
export class SynchedMotorPair extends control.Component {
private _ports: Output;
private _brake: boolean;
export class SynchedMotorPair extends Motor {
private _initialized: boolean;
constructor(ports: Output) {
super();
this._ports = ports;
this._brake = false;
super(ports);
}
/**
* Sets the speed of the motor.
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=motorPairSetSpeed block="set speed of `icons.motorLarge` %motor|to %speed|%"
//% on.fieldEditor=toggleonoff
//% weight=99 blockGap=8
//% speed.min=-100 speed.max=100
//% group="Chassis"
setSpeed(speed: number) {
speed = Math.clamp(speed >> 0, -100, 100);
if (!speed) {
stop(this._ports, this._brake);
return;
protected __init() {
if (!this._initialized) {
this._initialized = true;
const b = mkCmd(this._port, DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor
writePWM(b)
}
syncMotors(this._ports, {
}
protected __setSpeed(speed: number) {
syncMotors(this._port, {
speed: speed,
turnRatio: 0,
useBrake: !!this._brake
})
}
/**
* Sets the automatic brake on or off when the motor is off
* @param brake a value indicating if the motor should break when off
*/
//% blockId=motorPairSetBrakeMode block="set `icons.motorLarge` %chassis|brake %brake"
//% brake.fieldEditor=toggleonoff
//% weight=60 blockGap=8
//% group="Chassis"
setBrake(brake: boolean) {
this._brake = brake;
}
protected __move(steps: boolean, stepsOrTime: number, speed: number) {
syncMotors(this._port, {
useSteps: steps,
speed: speed,
turnRatio: 100, // same speed
stepsOrTime: stepsOrTime,
useBrake: this._brake
});
}
/**
* Turns the motor and the follower motor by a number of rotations
* @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
* @param steering the ratio of power sent to the follower motor, from ``-100`` to ``100``
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=motorPairTurn block="move steering %chassis|at %speed|%|steer %turnRadio|%|by %value|%unit"
//% blockId=motorPairTurn block="steer %chassis|%steering|%|at speed %speed|%|by %value|%unit"
//% weight=9 blockGap=8
//% steering.min=-100 steering=100
//% inlineInputMode=inline
//% group="Chassis"
moveSteering(steering: number, speed: number, value: number, unit: MoveUnit) {
steer(steering: number, speed: number, value: number, unit: MoveUnit) {
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) {
stop(this._ports, this._brake);
stop(this._port, this._brake);
return;
}
@ -399,7 +413,7 @@ namespace motors {
break;
}
syncMotors(this._ports, {
syncMotors(this._port, {
useSteps: useSteps,
speed: speed,
turnRatio: turnRatio,
@ -419,17 +433,17 @@ namespace motors {
* @param speedLeft the speed on the left motor, eg: 50
* @param speedRight the speed on the right motor, eg: 50
*/
//% blockId=motorPairTank block="move tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit"
//% blockId=motorPairTank block="tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit"
//% weight=9 blockGap=8
//% speedLeft.min=-100 speedLeft=100
//% speedRight.min=-100 speedRight=100
//% inlineInputMode=inline
//% group="Chassis"
moveTank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
speedLeft = Math.clamp(speedLeft >> 0, -100, 100);
speedRight = Math.clamp(speedRight >> 0, -100, 100);
const steering = (speedRight * 100 / speedLeft) >> 0;
this.moveSteering(speedLeft, steering, value, unit);
this.steer(speedLeft, steering, value, unit);
}
}