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refactoring motors wiht base class (#104)

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This commit is contained in:
Peli de Halleux
2017-12-17 22:47:13 -08:00
committed by GitHub
parent 944098b9f9
commit 6836852122
3 changed files with 156 additions and 148 deletions
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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);
}
}