simplify motor API

docs/maker/puppet.md

@@ -4,8 +4,14 @@ Use this program with the Programmable Brick and Large Motor.
 
 ```blocks
 loops.forever(function () {
-    output.largeMotorA.onForAngle(30, 30, false)
+    output.largeMotorA.setPower(30)
+    output.largeMotorA.on(true)
+    loops.pause(100)
+    output.largeMotorA.on(false)
     music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
-    output.largeMotorA.onForAngle(40, -30, false)
+    output.largeMotorA.setPower(-30)
+    output.largeMotorA.on(true)
+    loops.pause(100)
+    output.largeMotorA.on(false)
 })
 ```

libs/core/_locales/core-jsdoc-strings.json

@@ -56,17 +56,9 @@
   "input.remoteButtonCenter": "Remote beacon (center) button.",
   "input.remoteButtonTopLeft": "Remote top-left button.",
   "input.remoteButtonTopRight": "Remote top-right button.",
-  "output.Motor.off": "Power off the motor.",
+  "output.Motor.on": "Power on or off the motor.",
-  "output.Motor.on": "Power on the motor.",
+  "output.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
-  "output.Motor.onForAngle": "Powers on the motor for a specified number of milliseconds.",
+  "output.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",
-  "output.Motor.onForAngle|param|brake": "whether or not to use the brake",
-  "output.Motor.onForAngle|param|degrees": "the number of degrees to turn, eg: 90",
-  "output.Motor.onForAngle|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
-  "output.Motor.onForTime": "Powers on the motor for a specified number of milliseconds.",
-  "output.Motor.onForTime|param|brake": "whether or not to use the brake",
-  "output.Motor.onForTime|param|milliseconds": "the number of milliseconds to turn the motor on, eg: 500",
-  "output.Motor.onForTime|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
-  "output.Motor.on|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
   "output.Motor.setPower": "Sets the motor power level from ``-100`` to ``100``.",
   "output.Motor.setPower|param|power": "the desired speed to use. eg: 50",
   "output.Motor.speed": "Gets motor actual speed.",

libs/core/_locales/core-strings.json

@@ -82,10 +82,8 @@
   "input.ultrasonic3|block": "ultrasonic sensor 3",
   "input.ultrasonic4|block": "ultrasonic sensor 4",
   "input|block": "input",
-  "output.Motor.off|block": "%motor|OFF then brake %brake",
+  "output.Motor.on|block": "%motor|%onOrOff",
-  "output.Motor.onForAngle|block": "%motor|ON at power %power|for %degrees|deg then brake %brake",
+  "output.Motor.setBrake|block": "%motor|set brake %brake",
-  "output.Motor.onForTime|block": "%motor|ON at power %power|for %milliseconds=timePicker|ms then brake %brake",
-  "output.Motor.on|block": "%motor|ON at power %power",
   "output.Motor.setPower|block": "%motor|set power to %speed",
   "output.Motor.speed|block": "%motor|speed",
   "output.largeMotorA|block": "large motor A",

libs/core/output.ts

@@ -65,78 +65,34 @@ namespace output {
 
     //% fixedInstances
     export class Motor extends control.Component {
-        port: Output;
+        private port: Output;
-        large: boolean;
+        private large: boolean;
+        private brake: boolean;
+
         constructor(port: Output, large: boolean) {
             super();
             this.port = port;
             this.large = large;
+            this.brake = false;
         }
 
         /**
-         * Power off the motor.
+         * Power on or off the motor.
-         * @param motor the motor to turn off
-         */
-        //% blockId=outputMotorOf block="%motor|OFF then brake %brake"
-        //% brake.fieldEditor=toggleonoff
-        //% weight=100 group="Motors" blockGap=8
-        off(brake = false) {
-            const b = mkCmd(this.port, DAL.opOutputStop, 1)
-            b.setNumber(NumberFormat.UInt8LE, 2, brake ? 1 : 0)
-            writePWM(b)
-        }
-
-        /**
-         * Power on the motor.
          * @param motor the motor to turn on
          * @param power the motor power level from ``-100`` to ``100``, eg: 50
          */
-        //% blockId=outputMotorOn block="%motor|ON at power %power"
+        //% blockId=outputMotorOn block="%motor|%onOrOff"
-        //% power.min=-100 power.max=100 
         //% weight=99 group="Motors" blockGap=8
-        on(power: number = 50) {
+        //% onOrOff.fieldEditor=toggleonoff
-            this.setPower(power);
+        on(onOrOff: boolean = true) {
-            const b = mkCmd(this.port, DAL.opOutputStart, 0)
+            if (onOrOff) {
-            writePWM(b);
+                const b = mkCmd(this.port, DAL.opOutputStart, 0)
-        }
+                writePWM(b);    
-
+            } else {
-        /**
+                const b = mkCmd(this.port, DAL.opOutputStop, 1)
-         * Powers on the motor for a specified number of milliseconds.
+                b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
-         * @param motor the motor to turn on
+                writePWM(b)                    
-         * @param power the motor power level from ``-100`` to ``100``, eg: 50
+            }
-         * @param milliseconds the number of milliseconds to turn the motor on, eg: 500
-         * @param brake whether or not to use the brake
-         */
-        //% blockId=outputMotorOnForTime block="%motor|ON at power %power|for %milliseconds=timePicker|ms then brake %brake"
-        //% power.min=-100 power.max=100 
-        //% brake.fieldEditor=toggleonoff
-        //% weight=98 group="Motors" blockGap=8
-        onForTime(power: number, milliseconds: number, brake = false) {
-            step(this.port, {
-                power,
-                step1: 0,
-                step2: milliseconds,
-                step3: 0,
-                useSteps: false,
-                useBrake: brake
-            })
-            loops.pause(milliseconds);
-        }
-
-        /**
-         * Powers on the motor for a specified number of milliseconds.
-         * @param motor the motor to turn on
-         * @param power the motor power level from ``-100`` to ``100``, eg: 50
-         * @param degrees the number of degrees to turn, eg: 90
-         * @param brake whether or not to use the brake
-         */
-        //% blockId=outputMotorOnForAngle block="%motor|ON at power %power|for %degrees|deg then brake %brake"
-        //% power.min=-100 power.max=100
-        //% degrees.min=-360 degrees.max=360        
-        //% brake.fieldEditor=toggleonoff
-        //% weight=97 group="Motors" blockGap=8
-        onForAngle(power: number, degrees: number, brake = false) {
-            // TODO
         }
 
         /**
@@ -145,7 +101,7 @@ namespace output {
          * @param power the desired speed to use. eg: 50
          */
         //% blockId=motorSetPower block="%motor|set power to %speed"
-        //% weight=60 group="Motors"
+        //% weight=60 group="Motors" blockGap=8
         //% speed.min=-100 speed.max=100
         setPower(power: number) {
             const b = mkCmd(this.port, DAL.opOutputPower, 1)
@@ -153,6 +109,17 @@ namespace output {
             writePWM(b)
         }
 
+        /**
+         * 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="%motor|set brake %brake"
+        //% brake.fieldEditor=toggleonoff
+        //% weight=60 group="Motors"
+        setBrake(brake: boolean) {
+            this.brake = brake;
+        }
+
         /**
          * Gets motor actual speed.
          * @param motor the port which connects to the motor