c_meyer/pxt-ev3
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Motor angle (#559)

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* control angle with slider

* called changed state

* remove logging
This commit is contained in:
Peli de Halleux
2018-05-02 22:04:29 -07:00
committed by GitHub
parent 08a860bd80
commit 7e58b9b699
2 changed files with 27 additions and 26 deletions
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24
sim/state/motornode.ts
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@ -17,7 +17,8 @@ namespace pxsim {
private speedCmdTime: number;
private _synchedMotor: MotorNode; // non-null if synchronized
private manualSpeed: number = undefined;
private manualReferenceAngle: number = undefined;
private manualAngle: number = undefined;
constructor(port: number, large: boolean) {
super(port);
@ -103,14 +104,18 @@ namespace pxsim {
}
manualMotorDown() {
this.manualReferenceAngle = this.angle;
this.manualAngle = 0;
}
manualMotorMove(speed: number) {
this.manualSpeed = speed;
// position: 0, 360
manualMotorAngle(angle: number) {
this.manualAngle = angle;
}
manualMotorUp() {
this.manualSpeed = undefined;
delete this.manualReferenceAngle;
delete this.manualAngle;
}
updateState(elapsed: number) {
@ -126,7 +131,7 @@ namespace pxsim {
}
private updateStateStep(elapsed: number) {
if (!this.manualSpeed) {
if (this.manualAngle === undefined) {
// compute new speed
switch (this.speedCmd) {
case DAL.opOutputSpeed:
@ -202,7 +207,11 @@ namespace pxsim {
}
}
else {
this.speed = this.manualSpeed;
// the user is holding the handle - so position is the angle
this.speed = 0;
// rotate by the desired angle change
this.angle = this.manualReferenceAngle + this.manualAngle;
this.setChangedState();
}
this.speed = Math.round(this.speed); // integer only
@ -217,7 +226,8 @@ namespace pxsim {
// if the motor was stopped or there are no speed commands,
// let it coast to speed 0
if (this.speed && !(this.started || this.speedCmd)) {
if ((this.manualReferenceAngle === undefined)
&& this.speed && !(this.started || this.speedCmd)) {
// decay speed 5% per tick
this.speed = Math.round(Math.max(0, Math.abs(this.speed) - 10) * sign(this.speed));
}