simplify motor API
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Peli de Halleux
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@ -4,8 +4,14 @@ Use this program with the Programmable Brick and Large Motor.
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```blocks
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loops.forever(function () {
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output.largeMotorA.onForAngle(30, 30, false)
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output.largeMotorA.setPower(30)
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output.largeMotorA.on(true)
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loops.pause(100)
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output.largeMotorA.on(false)
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music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
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output.largeMotorA.onForAngle(40, -30, false)
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output.largeMotorA.setPower(-30)
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output.largeMotorA.on(true)
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loops.pause(100)
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output.largeMotorA.on(false)
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})
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```
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@ -56,17 +56,9 @@
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"input.remoteButtonCenter": "Remote beacon (center) button.",
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"input.remoteButtonTopLeft": "Remote top-left button.",
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"input.remoteButtonTopRight": "Remote top-right button.",
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"output.Motor.off": "Power off the motor.",
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"output.Motor.on": "Power on the motor.",
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"output.Motor.onForAngle": "Powers on the motor for a specified number of milliseconds.",
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"output.Motor.onForAngle|param|brake": "whether or not to use the brake",
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"output.Motor.onForAngle|param|degrees": "the number of degrees to turn, eg: 90",
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"output.Motor.onForAngle|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
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"output.Motor.onForTime": "Powers on the motor for a specified number of milliseconds.",
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"output.Motor.onForTime|param|brake": "whether or not to use the brake",
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"output.Motor.onForTime|param|milliseconds": "the number of milliseconds to turn the motor on, eg: 500",
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"output.Motor.onForTime|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
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"output.Motor.on|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
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"output.Motor.on": "Power on or off the motor.",
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"output.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
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"output.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",
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"output.Motor.setPower": "Sets the motor power level from ``-100`` to ``100``.",
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"output.Motor.setPower|param|power": "the desired speed to use. eg: 50",
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"output.Motor.speed": "Gets motor actual speed.",
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@ -82,10 +82,8 @@
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"input.ultrasonic3|block": "ultrasonic sensor 3",
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"input.ultrasonic4|block": "ultrasonic sensor 4",
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"input|block": "input",
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"output.Motor.off|block": "%motor|OFF then brake %brake",
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"output.Motor.onForAngle|block": "%motor|ON at power %power|for %degrees|deg then brake %brake",
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"output.Motor.onForTime|block": "%motor|ON at power %power|for %milliseconds=timePicker|ms then brake %brake",
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"output.Motor.on|block": "%motor|ON at power %power",
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"output.Motor.on|block": "%motor|%onOrOff",
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"output.Motor.setBrake|block": "%motor|set brake %brake",
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"output.Motor.setPower|block": "%motor|set power to %speed",
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"output.Motor.speed|block": "%motor|speed",
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"output.largeMotorA|block": "large motor A",
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@ -65,78 +65,34 @@ namespace output {
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//% fixedInstances
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export class Motor extends control.Component {
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port: Output;
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large: boolean;
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private port: Output;
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private large: boolean;
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private brake: boolean;
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constructor(port: Output, large: boolean) {
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super();
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this.port = port;
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this.large = large;
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this.brake = false;
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}
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/**
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* Power off the motor.
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* @param motor the motor to turn off
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*/
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//% blockId=outputMotorOf block="%motor|OFF then brake %brake"
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//% brake.fieldEditor=toggleonoff
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//% weight=100 group="Motors" blockGap=8
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off(brake = false) {
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const b = mkCmd(this.port, DAL.opOutputStop, 1)
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b.setNumber(NumberFormat.UInt8LE, 2, brake ? 1 : 0)
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writePWM(b)
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}
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/**
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* Power on the motor.
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* Power on or off the motor.
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* @param motor the motor to turn on
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* @param power the motor power level from ``-100`` to ``100``, eg: 50
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*/
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//% blockId=outputMotorOn block="%motor|ON at power %power"
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//% power.min=-100 power.max=100
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//% blockId=outputMotorOn block="%motor|%onOrOff"
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//% weight=99 group="Motors" blockGap=8
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on(power: number = 50) {
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this.setPower(power);
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const b = mkCmd(this.port, DAL.opOutputStart, 0)
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writePWM(b);
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}
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/**
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* Powers on the motor for a specified number of milliseconds.
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* @param motor the motor to turn on
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* @param power the motor power level from ``-100`` to ``100``, eg: 50
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* @param milliseconds the number of milliseconds to turn the motor on, eg: 500
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* @param brake whether or not to use the brake
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*/
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//% blockId=outputMotorOnForTime block="%motor|ON at power %power|for %milliseconds=timePicker|ms then brake %brake"
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//% power.min=-100 power.max=100
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//% brake.fieldEditor=toggleonoff
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//% weight=98 group="Motors" blockGap=8
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onForTime(power: number, milliseconds: number, brake = false) {
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step(this.port, {
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power,
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step1: 0,
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step2: milliseconds,
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step3: 0,
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useSteps: false,
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useBrake: brake
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})
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loops.pause(milliseconds);
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}
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/**
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* Powers on the motor for a specified number of milliseconds.
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* @param motor the motor to turn on
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* @param power the motor power level from ``-100`` to ``100``, eg: 50
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* @param degrees the number of degrees to turn, eg: 90
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* @param brake whether or not to use the brake
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*/
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//% blockId=outputMotorOnForAngle block="%motor|ON at power %power|for %degrees|deg then brake %brake"
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//% power.min=-100 power.max=100
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//% degrees.min=-360 degrees.max=360
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//% brake.fieldEditor=toggleonoff
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//% weight=97 group="Motors" blockGap=8
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onForAngle(power: number, degrees: number, brake = false) {
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// TODO
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//% onOrOff.fieldEditor=toggleonoff
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on(onOrOff: boolean = true) {
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if (onOrOff) {
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const b = mkCmd(this.port, DAL.opOutputStart, 0)
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writePWM(b);
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} else {
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const b = mkCmd(this.port, DAL.opOutputStop, 1)
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b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
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writePWM(b)
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}
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}
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/**
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@ -145,7 +101,7 @@ namespace output {
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* @param power the desired speed to use. eg: 50
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*/
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//% blockId=motorSetPower block="%motor|set power to %speed"
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//% weight=60 group="Motors"
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//% weight=60 group="Motors" blockGap=8
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//% speed.min=-100 speed.max=100
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setPower(power: number) {
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const b = mkCmd(this.port, DAL.opOutputPower, 1)
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@ -153,6 +109,17 @@ namespace output {
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writePWM(b)
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}
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/**
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* Sets the automatic brake on or off when the motor is off
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* @param brake a value indicating if the motor should break when off
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*/
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//% blockId=outputMotorSetBrakeMode block="%motor|set brake %brake"
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//% brake.fieldEditor=toggleonoff
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//% weight=60 group="Motors"
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setBrake(brake: boolean) {
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this.brake = brake;
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}
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/**
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* Gets motor actual speed.
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* @param motor the port which connects to the motor
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