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Merge pull request #79 from Microsoft/motorsync

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Motor sync block
This commit is contained in:
Peli de Halleux 2017-12-15 14:28:03 -08:00 committed by GitHub
commit 6a4e64eac0
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5 changed files with 359 additions and 96 deletions
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25
libs/core/_locales/core-jsdoc-strings.json
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@ -52,17 +52,32 @@
"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 degrees",
"motors.Motor.move|param|angle": "the degrees to rotate, eg: 360",
"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.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 motor speed level from ``-100`` to ``100``.",
"motors.Motor.setSpeed|param|speed": "the power from ``100`` full forward to ``-100`` full backward, eg: 50",
"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.stop": "Stops the motor",
"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.stopAllMotors": "Stops all motors",
"output.createBuffer": "Create a new zero-initialized buffer.",
"output.createBuffer|param|size": "number of bytes in the buffer",

45
libs/core/_locales/core-strings.json
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@ -12,9 +12,16 @@
"LightsPattern.RedFlash|block": "Flashing Red",
"LightsPattern.RedPulse|block": "Pulsing Red",
"LightsPattern.Red|block": "Red",
"MoveUnit.Degrees|block": "degrees",
"MoveUnit.Rotations|block": "rotations",
"MoveUnit.Seconds|block": "seconds",
"Output.AB|block": "A+B",
"Output.AD|block": "A+D",
"Output.ALL|block": "All",
"Output.A|block": "A",
"Output.BC|block": "B+C",
"Output.B|block": "B",
"Output.CD|block": "C+D",
"Output.C|block": "C",
"Output.D|block": "D",
"brick.Button.isPressed|block": "`icons.brickButtons` %button|is pressed",
@ -36,22 +43,30 @@
"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|by %angle|degrees at %speed|%",
"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 `icons.motorLarge` %motor|to %speed|%",
"motors.Motor.setSpeed|block": "set speed of `icons.motorLarge` %motor|to %speed|%",
"motors.Motor.speed|block": "`icons.motorLarge` %motor|speed",
"motors.Motor.stop|block": "stop `icons.motorLarge` %motor",
"motors.Motor.tachoCount|block": "`icons.motorLarge` %motor|tacho count",
"motors.largeMotorA|block": "large A",
"motors.largeMotorB|block": "large B",
"motors.largeMotorC|block": "large C",
"motors.largeMotorD|block": "large D",
"motors.mediumMotorA|block": "medium A",
"motors.mediumMotorB|block": "medium B",
"motors.mediumMotorC|block": "medium C",
"motors.mediumMotorD|block": "medium D",
"motors.stopAllMotors|block": "stop all `icons.motorLarge`",
"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.largeAB|block": "large A+B",
"motors.largeAD|block": "large A+D",
"motors.largeA|block": "large A",
"motors.largeBC|block": "large B+C",
"motors.largeB|block": "large B",
"motors.largeCD|block": "large C+D",
"motors.largeC|block": "large C",
"motors.largeD|block": "large D",
"motors.mediumA|block": "medium A",
"motors.mediumB|block": "medium B",
"motors.mediumC|block": "medium C",
"motors.mediumD|block": "medium D",
"motors.stopAllMotors|block": "stop all motors",
"motors|block": "motors",
"output|block": "output",
"screen|block": "screen",
@ -66,7 +81,9 @@
"{id:category}Screen": "Screen",
"{id:category}Serial": "Serial",
"{id:group}Buttons": "Buttons",
"{id:group}Chassis": "Chassis",
"{id:group}Light": "Light",
"{id:group}Motors": "Motors",
"{id:group}Screen": "Screen"
"{id:group}Motion": "Motion",
"{id:group}Screen": "Screen",
"{id:group}Sensors": "Sensors"
}

8
libs/core/ns.ts
View File

@ -1,9 +1 @@
//% weight=100
namespace brick {
}
//% color="#B4009E" weight=98 icon="\uf192"
//% groups='["Ultrasonic Sensor", "Touch Sensor", "Color Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
namespace sensors {
}

373
libs/core/output.ts
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@ -7,6 +7,14 @@ enum Output {
C = 0x04,
//% block="D"
D = 0x08,
//% block="B+C"
BC = Output.B | Output.C,
//% block="A+B"
AB = Output.A | Output.B,
//% block="C+D"
CD = Output.C | Output.D,
//% block="A+D"
AD = Output.B | Output.C,
//% block="All"
ALL = 0x0f
}
@ -17,6 +25,15 @@ enum OutputType {
MiniTacho = 8,
}
enum MoveUnit {
//% block="rotations"
Rotations,
//% block="degrees"
Degrees,
//% block="seconds"
Seconds
}
namespace motors {
let pwmMM: MMap
let motorMM: MMap
@ -67,8 +84,9 @@ namespace motors {
/**
* Stops all motors
*/
//% blockId=motorStopAll block="stop all `icons.motorLarge`"
//% weight=10 group="Motors" blockGap=8
//% blockId=motorStopAll block="stop all motors"
//% weight=97
//% group="Motion"
export function stopAllMotors() {
const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
writePWM(b)
@ -76,72 +94,113 @@ namespace motors {
//% fixedInstances
export class Motor extends control.Component {
private port: Output;
private large: boolean;
private brake: boolean;
private _port: Output;
private _large: boolean;
private _initialized: boolean;
private _brake: boolean;
constructor(port: Output, large: boolean) {
super();
this.port = port;
this.large = large;
this.brake = false;
this._port = port;
this._large = large;
this._brake = false;
}
/**
* Sets the motor speed level from ``-100`` to ``100``.
* @param motor the output connection that the motor is connected to
* @param speed the power from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=motorSetSpeed block="set speed `icons.motorLarge` %motor|to %speed|%"
//% weight=99 group="Motors" blockGap=8
//% speed.min=-100 speed.max=100
setSpeed(speed: number) {
speed = Math.clamp(-100, 100, speed >> 0);
// per LEGO: call it power, use speed
const b = mkCmd(this.port, DAL.opOutputSpeed, 1)
b.setNumber(NumberFormat.Int8LE, 2, speed)
writePWM(b)
if (speed) {
const b = mkCmd(this.port, DAL.opOutputStart, 0)
writePWM(b);
} else {
this.stop();
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)
}
}
/**
* Moves the motor by a number of degrees
* @param degrees the angle to turn the motor
* @param angle the degrees to rotate, eg: 360
* Gets the port where this motor is connected
*/
//%
//% group="Motion"
port(): Output {
return this._port;
}
/**
* Sets the speed of the motor.
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=motorMove block="move `icons.motorLarge` %motor|by %angle|degrees at %speed|%"
//% weight=98 group="Motors" blockGap=8
//% blockId=motorSetSpeed block="set speed of `icons.motorLarge` %motor|to %speed|%"
//% on.fieldEditor=toggleonoff
//% weight=99 blockGap=8
//% speed.min=-100 speed.max=100
move(angle: number, power: number) {
angle = angle >> 0;
power = Math.clamp(-100, 100, power >> 0);
//% group="Motion"
setSpeed(speed: number) {
this.__init();
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) { // always stop
this.stop();
} else {
const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
b.setNumber(NumberFormat.Int8LE, 2, speed)
writePWM(b)
}
}
step(this.port, {
speed: power,
/**
* Moves the motor by a number of rotations, degress or seconds
* @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 `icons.motorLarge` %motor|for %value|%unit|at %speed|%"
//% weight=98 blockGap=8
//% 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) {
case MoveUnit.Rotations:
stepsOrTime = (value * 360) >> 0;
useSteps = true;
break;
case MoveUnit.Degrees:
stepsOrTime = value >> 0;
useSteps = true;
break;
default:
stepsOrTime = value;
useSteps = false;
break;
}
step(this._port, {
useSteps: useSteps,
step1: 0,
step2: angle,
step2: stepsOrTime,
step3: 0,
useSteps: true,
useBrake: this.brake
speed: speed,
useBrake: this._brake
})
}
/**
* Stops the motor
*/
//% blockId=motorStop block="stop `icons.motorLarge` %motor"
//% weight=97 group="Motors"
stop() {
const b = mkCmd(this.port, DAL.opOutputStop, 1)
b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
writePWM(b);
private stop() {
this.__init();
stop(this._port);
}
/**
@ -150,9 +209,11 @@ namespace motors {
*/
//% blockId=outputMotorSetBrakeMode block="set `icons.motorLarge` %motor|brake %brake"
//% brake.fieldEditor=toggleonoff
//% weight=60 group="Motors" blockGap=8
//% weight=60 blockGap=8
//% group="Motion"
setBrake(brake: boolean) {
this.brake = brake;
this.__init();
this._brake = brake;
}
/**
@ -160,9 +221,11 @@ namespace motors {
*/
//% blockId=motorSetReversed block="set `icons.motorLarge` %motor|reversed %reversed"
//% reversed.fieldEditor=toggleonoff
//% weight=59 group="Motors"
//% weight=59
//% group="Motion"
setReversed(reversed: boolean) {
const b = mkCmd(this.port, DAL.opOutputPolarity, 1)
this.__init();
const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1);
writePWM(b)
}
@ -172,9 +235,11 @@ namespace motors {
* @param motor the port which connects to the motor
*/
//% blockId=motorSpeed block="`icons.motorLarge` %motor|speed"
//% weight=72 group="Motors" blockGap=8
//% weight=72 blockGap=8
//% group="Sensors"
speed(): number {
return getMotorData(this.port).actualSpeed;
this.__init();
return getMotorData(this._port).actualSpeed;
}
/**
@ -182,9 +247,11 @@ namespace motors {
* @param motor the port which connects to the motor
*/
//% blockId=motorCount block="`icons.motorLarge` %motor|count"
//% weight=71 group="Motors" blockGap=8
//% weight=71 blockGap=8
//% group="Sensors"
count(): number {
return getMotorData(this.port).count;
this.__init();
return getMotorData(this._port).count;
}
/**
@ -192,19 +259,23 @@ namespace motors {
* @param motor the port which connects to the motor
*/
//% blockId=motorTachoCount block="`icons.motorLarge` %motor|tacho count"
//% weight=70 group="Motors"
//% weight=70
//% group="Sensors"
tachoCount(): number {
return getMotorData(this.port).tachoCount;
this.__init();
return getMotorData(this._port).tachoCount;
}
/**
* Clears the motor count
*/
//% group="Motion"
clearCount() {
const b = mkCmd(this.port, DAL.opOutputClearCount, 0)
this.__init();
const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
writePWM(b)
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (this.port & (1 << i)) {
if (this._port & (1 << i)) {
motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
}
}
@ -213,34 +284,166 @@ namespace motors {
/**
* Resets the motor.
*/
//% blockId=motorReset block="reset `icons.motorLarge` %motor"
//% weight=20
//% group="Motion"
reset() {
reset(this.port);
this.__init();
reset(this._port);
}
}
//% whenUsed fixedInstance block="large A"
export const largeMotorA = new Motor(Output.A, true);
export const largeA = new Motor(Output.A, true);
//% whenUsed fixedInstance block="large B"
export const largeMotorB = new Motor(Output.B, true);
export const largeB = new Motor(Output.B, true);
//% whenUsed fixedInstance block="large C"
export const largeMotorC = new Motor(Output.C, true);
export const largeC = new Motor(Output.C, true);
//% whenUsed fixedInstance block="large D"
export const largeMotorD = new Motor(Output.D, true);
export const largeD = new Motor(Output.D, true);
//% whenUsed fixedInstance block="medium A"
export const mediumMotorA = new Motor(Output.A, false);
export const mediumA = new Motor(Output.A, false);
//% whenUsed fixedInstance block="medium B"
export const mediumMotorB = new Motor(Output.B, false);
export const mediumB = new Motor(Output.B, false);
//% whenUsed fixedInstance block="medium C"
export const mediumMotorC = new Motor(Output.C, false);
export const mediumC = new Motor(Output.C, false);
//% whenUsed fixedInstance block="medium D"
export const mediumMotorD = new Motor(Output.D, false);
export const mediumD = new Motor(Output.D, false);
//% fixedInstances
export class SynchedMotorPair extends control.Component {
private _ports: Output;
private _brake: boolean;
constructor(ports: Output) {
super();
this._ports = ports;
this._brake = false;
}
/**
* 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);
return;
}
syncMotors(this._ports, {
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;
}
/**
* 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``
*/
//% blockId=motorPairTurn block="move steering %chassis|at %speed|%|steer %turnRadio|%|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) {
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) {
stop(this._ports);
return;
}
const turnRatio = Math.clamp(-200, 200, steering + 100 >> 0);
let useSteps: boolean;
let stepsOrTime: number;
switch (unit) {
case MoveUnit.Rotations:
stepsOrTime = (value * 360) >> 0;
useSteps = true;
break;
case MoveUnit.Degrees:
stepsOrTime = value >> 0;
useSteps = true;
break;
default:
stepsOrTime = value;
useSteps = false;
break;
}
syncMotors(this._ports, {
useSteps: useSteps,
speed: speed,
turnRatio: turnRatio,
stepsOrTime: stepsOrTime,
useBrake: this._brake
});
}
/**
* 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="move 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) {
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);
}
}
//% whenUsed fixedInstance block="large B+C"
export const largeBC = new SynchedMotorPair(Output.BC);
//% whenUsed fixedInstance block="large A+D"
export const largeAD = new SynchedMotorPair(Output.AD);
//% whenUsed fixedInstance block="large A+B"
export const largeAB = new SynchedMotorPair(Output.AB);
//% whenUsed fixedInstance block="large C+D"
export const largeCD = new SynchedMotorPair(Output.CD);
function reset(out: Output) {
let b = mkCmd(out, DAL.opOutputReset, 0)
@ -272,6 +475,29 @@ namespace motors {
}
}
interface SyncOptions {
useSteps?: boolean;
speed: number;
turnRatio: number;
stepsOrTime?: number;
useBrake?: boolean;
}
function syncMotors(out: Output, opts: SyncOptions) {
const cmd = opts.useSteps ? DAL.opOutputStepSync : DAL.opOutputTimeSync;
const b = mkCmd(out, cmd, 11);
const speed = Math.clamp(-100, 100, opts.speed);
const turnRatio = Math.clamp(-200, 200, opts.turnRatio);
b.setNumber(NumberFormat.Int8LE, 2, speed)
// note that b[3] is padding
b.setNumber(NumberFormat.Int16LE, 4 + 4 * 0, turnRatio)
// b[6], b[7] is padding
b.setNumber(NumberFormat.Int32LE, 4 + 4 * 1, opts.stepsOrTime || 0)
b.setNumber(NumberFormat.Int8LE, 4 + 4 * 2, opts.useBrake ? 1 : 0)
writePWM(b)
}
interface StepOptions {
power?: number;
speed?: number; // either speed or power has to be present
@ -282,6 +508,17 @@ namespace motors {
useBrake?: boolean;
}
function start(out: Output) {
const b = mkCmd(out, DAL.opOutputStart, 0)
writePWM(b);
}
function stop(out: Output) {
const b = mkCmd(out, DAL.opOutputStop, 1)
b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
writePWM(b);
}
function step(out: Output, opts: StepOptions) {
let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed
let speed = opts.speed

4
libs/ev3/ns.ts
View File

@ -5,11 +5,13 @@ namespace brick {
}
//% color="#C8509B" weight=95
//% color="#C8509B" weight=95 icon="\uf192"
//% groups='["Ultrasonic Sensor", "Touch Sensor", "Color Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
namespace sensors {
}
//% color="#A5CA18" weight=90 icon="\uf185"
//% groups='["Motion", "Sensors", "Chassis"]'
namespace motors {
}