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First set of 'motors' topics (#305)

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* Start of 'motors' topics

* Draft the 'motor motion' side doc

* Add / update more topics

* Last blast of edits

* Capture some more edits

* Put in movement and steering details
This commit is contained in:
Galen Nickel
2018-02-06 19:43:50 -08:00
committed by Peli de Halleux
parent e2eb5f35af
commit 88c58b4e76
17 changed files with 635 additions and 0 deletions
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13
libs/core/output.ts
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@ -113,6 +113,7 @@ namespace motors {
//% blockId=motorStopAll block="stop all motors"
//% weight=1
//% group="Move"
//% help=motors/stop-all-motors
export function stopAllMotors() {
const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
writePWM(b)
@ -164,6 +165,7 @@ namespace motors {
//% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake=toggleOnOff"
//% weight=60 blockGap=8
//% group="Move"
//% help=motors/motor/set-brake
setBrake(brake: boolean) {
this.init();
this._brake = brake;
@ -175,6 +177,7 @@ namespace motors {
//% blockId=motorSetReversed block="set %motor|reversed %reversed=toggleOnOff"
//% weight=59 blockGap=8
//% group="Move"
//% help=motors/motor/set-reversed
setReversed(reversed: boolean) {
this.init();
const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
@ -187,6 +190,7 @@ namespace motors {
*/
//% weight=6 blockGap=8
//% group="Move"
//% help=motors/motor/stop
//% blockId=motorStop block="stop %motors|"
stop() {
this.init();
@ -206,6 +210,7 @@ namespace motors {
*/
//% weight=5
//% group="Move"
//% help=motors/motor/reset
//% blockId=motorReset block="reset %motors|"
reset() {
this.init();
@ -221,6 +226,7 @@ namespace motors {
//% blockId=motorSetSpeed block="set %motor|speed to %speed=motorSpeedPicker|%"
//% weight=100 blockGap=8
//% group="Move"
//% help=motors/motor/set-speed
setSpeed(speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0);
@ -338,6 +344,7 @@ namespace motors {
//% blockId=outputMotorSetRegulated block="set %motor|regulated %value=toggleOnOff"
//% weight=58
//% group="Move"
//% help=motors/motor/set-regulated
setRegulated(value: boolean) {
this._regulated = value;
}
@ -350,6 +357,7 @@ namespace motors {
//% weight=72
//% blockGap=8
//% group="Counters"
//% help=motors/motor/speed
speed(): number {
this.init();
return getMotorData(this._port).actualSpeed;
@ -363,6 +371,7 @@ namespace motors {
//% weight=70
//% blockGap=8
//% group="Counters"
//% help=motors/motor/angle
angle(): number {
this.init();
return getMotorData(this._port).count;
@ -377,6 +386,7 @@ namespace motors {
//% weight=69
//% blockGap=8
//% group="Counters"
//% help=motors/motor/tacho
tacho(): number {
this.init();
return getMotorData(this._port).tachoCount;
@ -389,6 +399,7 @@ namespace motors {
//% weight=68
//% blockGap=8
//% group="Counters"
//% help=motors/motor/clear-counts
clearCounts() {
this.init();
const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
@ -488,6 +499,7 @@ namespace motors {
//% weight=96 blockGap=8
//% inlineInputMode=inline
//% group="Move"
//% help=motors/synced/tank
tank(speedLeft: number, speedRight: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
this.init();
@ -514,6 +526,7 @@ namespace motors {
//% turnRatio.min=-200 turnRatio=200
//% inlineInputMode=inline
//% group="Move"
//% help=motors/synced/steer
steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0);