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bring back speed

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This commit is contained in:
Peli de Halleux
2017-12-13 22:54:08 -08:00
parent 3c86ae286f
commit 92178f3371
3 changed files with 29 additions and 25 deletions
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42
libs/core/output.ts
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@ -91,7 +91,6 @@ namespace motors {
private _large: boolean;
private _initialized: boolean;
private _speed: number;
private _brake: boolean;
private _follower: Motor; //
@ -100,7 +99,6 @@ namespace motors {
this._port = port;
this._large = large;
this._brake = false;
this._speed = 50;
}
private __init() {
@ -113,18 +111,21 @@ namespace motors {
}
/**
* Turns the motor on or off at the current speed
* @param on true if the motor should be on
* Sets the speed of the motor.
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=motorPower block="power `icons.motorLarge` %motor|%on"
//% blockId=motorPower block="set speed of `icons.motorLarge` %motor|to %speed|%"
//% on.fieldEditor=toggleonoff
//% weight=99 blockGap=8
power(on: boolean) {
if (!this._speed || !on) { // always stop
//% speed.min=-100 speed.max=100
setSpeed(speed: number) {
this.__init();
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) { // always stop
this.stop();
} else {
if (this._follower) this.setSpeedSync(this._speed);
else this.setSpeedSingle(this._speed);
if (this._follower) this.setSpeedSync(speed);
else this.setSpeedSingle(speed);
}
}
@ -149,21 +150,21 @@ namespace motors {
* @param unit the meaning of the value
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=motorMove block="move `icons.motorLarge` %motor|for %value|%unit"
//% blockId=motorMove block="move `icons.motorLarge` %motor|for %value|%unit|at %speed|%"
//% weight=98
//% speed.min=-100 speed.max=100
move(value: number, unit: MoveUnit) {
this.output(value, unit, 0);
move(value: number, unit: MoveUnit, speed: number) {
this.output(value, unit, speed, 0);
}
private output(value: number, unit: MoveUnit, turnRatio: number) {
private output(value: number, unit: MoveUnit, speed: number, turnRatio: number) {
this.__init();
if (!this._speed) {
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) {
this.stop();
return;
}
turnRatio = Math.clamp(-200, 200, turnRatio >> 0);
let useSteps: boolean;
let stepsOrTime: number;
switch (unit) {
@ -185,7 +186,7 @@ namespace motors {
syncMotors(this._port | this._follower._port, {
useSteps: useSteps,
stepsOrTime: stepsOrTime,
speed: this._speed,
speed: speed,
turnRatio: turnRatio,
useBrake: this._brake
})
@ -195,7 +196,7 @@ namespace motors {
step1: 0,
step2: stepsOrTime,
step3: 0,
speed: this._speed,
speed: speed,
useBrake: this._brake
})
}
@ -218,6 +219,7 @@ namespace motors {
//% brake.fieldEditor=toggleonoff
//% weight=60 blockGap=8
setBrake(brake: boolean) {
this.__init();
this._brake = brake;
}
@ -312,11 +314,11 @@ namespace motors {
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
* @param turnRatio the ratio of power sent to the follower motor, from -200 to 200
*/
//% blockId=motorTurn block="turn `icons.motorLarge` %motor|by %value|%unit|turn %turnRadio"
//% blockId=motorTurn block="turn `icons.motorLarge` %motor|by %value|%unit|at %speed|% turn %turnRadio"
//% weight=9 blockGap=8
//% turnRatio.min=-200 turnRatio=200
turn(value: number, unit: MoveUnit, turnRatio: number) {
this.output(value, unit, turnRatio);
turn(value: number, unit: MoveUnit, speed: number, turnRatio: number) {
this.output(value, unit, speed, turnRatio);
}
}