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
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 27 additions and 26 deletions
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24
sim/state/motornode.ts
View File

@ -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));
}

29
sim/visuals/controls/motorSlider.ts
View File

@ -13,7 +13,7 @@ namespace pxsim.visuals {
private static SLIDER_RADIUS = 100;
private internalSpeed: number = 0;
private internalAngle: number = 0;
getInnerView(parent: SVGSVGElement, globalDefs: SVGDefsElement) {
this.group = svg.elt("g") as SVGGElement;
@ -102,9 +102,9 @@ namespace pxsim.visuals {
} else if (dx >= 0 && dy <= 0) {
deg = 90 - deg;
}
const value = Math.abs(Math.ceil((deg % 360) / 360 * this.getMax()));
const value = Math.abs(Math.ceil((deg % 360)));
this.internalSpeed = value;
this.internalAngle = value;
this.updateDial();
this.prevVal = deg;
@ -119,7 +119,7 @@ namespace pxsim.visuals {
private handleSliderMove() {
this.dial.setAttribute('cursor', '-webkit-grabbing');
const state = this.state;
state.manualMotorMove(this.internalSpeed);
state.manualMotorAngle(this.internalAngle);
}
private handleSliderUp() {
@ -127,19 +127,18 @@ namespace pxsim.visuals {
const state = this.state;
state.manualMotorUp();
this.internalSpeed = 0;
this.internalAngle = 0;
this.updateDial();
}
private updateDial() {
let speed = this.internalSpeed;
let angle = this.internalAngle;
// Update dial position
const deg = speed / this.getMax() * 360; // degrees
const radius = MotorSliderControl.SLIDER_RADIUS;
const dialRadius = 5;
const x = Math.ceil((radius - dialRadius) * Math.sin(deg * Math.PI / 180)) + radius;
const y = Math.ceil((radius - dialRadius) * -Math.cos(deg * Math.PI / 180)) + radius;
const x = Math.ceil((radius - dialRadius) * Math.sin(angle * Math.PI / 180)) + radius;
const y = Math.ceil((radius - dialRadius) * -Math.cos(angle * Math.PI / 180)) + radius;
this.dial.setAttribute('transform', `translate(${x}, ${y})`);
}
@ -148,18 +147,10 @@ namespace pxsim.visuals {
return;
}
const node = this.state;
const speed = node.getSpeed();
const angle = node.getAngle() % 360;
// Update reporter
this.reporter.textContent = `${speed}`;
}
private getMin() {
return 0;
}
private getMax() {
return 100;
this.reporter.textContent = `${angle}°`;
}
}