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updated chassis (#250)

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Peli de Halleux 2018-01-30 08:49:10 -08:00 committed by GitHub
parent 02b0716043
commit 8aa47f3d1e
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3 changed files with 39 additions and 32 deletions
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7
libs/chassis/_locales/chassis-jsdoc-strings.json
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@ -1,11 +1,10 @@
{
"chassis": "A differential drive robot",
"chassis.Chassis": "A differential drive robot",
"chassis.Chassis.drive": "Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)\nusing a unicycle model.",
"chassis.Chassis.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
"chassis.Chassis.drive|param|speed": "speed of the center point between motors, eg: 10",
"chassis.Chassis.drive|param|value": "the amount of movement, eg: 2",
"chassis.Chassis.setBaseLength": "Sets the base length in centimeters",
"chassis.Chassis.setMotors": "Sets the motors used by the chassis, default is B+C",
"chassis.Chassis.setProperty": "Sets a property of the robot",
"chassis.Chassis.setProperty|param|property": "the property to set",
"chassis.Chassis.setProperty|param|value": "the value to set"
"chassis.Chassis.setWheelRadius": "Sets the wheel radius in centimeters"
}

5
libs/chassis/_locales/chassis-strings.json
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@ -1,9 +1,8 @@
{
"ChassisProperty.BaseLength|block": "base length (cm)",
"ChassisProperty.WheelRadius|block": "wheel radius (cm)",
"chassis.Chassis.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s",
"chassis.Chassis.setBaseLength|block": "set %chassis|base length to %cm|(cm)",
"chassis.Chassis.setMotors|block": "set %chassis|motors to %motors",
"chassis.Chassis.setProperty|block": "set %chassis|%property|to %value",
"chassis.Chassis.setWheelRadius|block": "set %chassis|wheel radius to %cm|(cm)",
"chassis|block": "chassis",
"{id:category}Chassis": "Chassis"
}

57
libs/chassis/chassis.ts
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@ -1,10 +1,7 @@
enum ChassisProperty {
//% block="wheel radius (cm)"
WheelRadius,
//% block="base length (cm)"
BaseLength
}
/**
* A differential drive robot
*/
//% weight=50 color=#cf00cf
namespace chassis {
/**
* A differential drive robot
@ -29,13 +26,17 @@ namespace chassis {
* using a unicycle model.
* @param speed speed of the center point between motors, eg: 10
* @param rotationSpeed rotation of the robot around the center point, eg: 30
* @param value the amount of movement, eg: 2
* @param unit
*/
* @param distance
**/
//% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s"
//% inlineInputMode=inline
//% weight=95 blockGap=8
drive(speed: number, rotationSpeed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
drive(speed: number, rotationSpeed: number, distance: number = 0) {
if (!speed) {
this.motors.stop();
return;
}
// speed is expressed in %
const R = this.wheelRadius; // cm
const L = this.baseLength; // cm
@ -52,24 +53,28 @@ namespace chassis {
const sr = vr / maxw * 100; // %
const sl = vl / maxw * 100; // %
this.motors.tank(sr, sl, value, unit)
// cm / (cm/s) = s
const seconds = distance / speed;
this.motors.tank(sr, sl, seconds, MoveUnit.Seconds)
}
/**
* Sets a property of the robot
* @param property the property to set
* @param value the value to set
* Sets the wheel radius in centimeters
* @param cm
*/
//% blockId=chassisSetProperty block="set %chassis|%property|to %value"
//% blockGap=8
//% weight=10
setProperty(property: ChassisProperty, value: number) {
switch (property) {
case ChassisProperty.WheelRadius:
this.wheelRadius = Math.max(0.1, value); break;
case ChassisProperty.BaseLength:
this.baseLength = Math.max(0.1, value); break;
//% blockId=chassisSetWheelRadius block="set %chassis|wheel radius to %cm|(cm)"
setWheelRadius(cm: number) {
this.wheelRadius = cm;
}
/**
* Sets the base length in centimeters
* @param cm
*/
//% blockId=chassisSetBaseLength block="set %chassis|base length to %cm|(cm)"
setBaseLength(cm: number) {
this.baseLength = cm;
}
/**
@ -81,6 +86,10 @@ namespace chassis {
setMotors(motors: motors.SynchedMotorPair) {
this.motors = motors;
}
toString(): string {
return `chassis base ${this.baseLength}, wheel ${this.wheelRadius}`;
}
}
//% fixedInstance whenUsed