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differentiate large/medium motors

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This commit is contained in:
Peli de Halleux
2017-10-27 00:09:00 -07:00
parent 6391620373
commit 95076f8f24
3 changed files with 65 additions and 26 deletions
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68
libs/core/output.ts
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@ -41,7 +41,7 @@ namespace output {
buf[0] = DAL.opProgramStart
writePWM(buf)
}
function writePWM(buf: Buffer): void {
init()
pwmMM.write(buf)
@ -61,14 +61,16 @@ namespace output {
function resetMotors() {
reset(Output.ALL)
}
}
//% fixedInstances
export class Motor extends control.Component {
port: Output;
constructor(port: Output) {
large: boolean;
constructor(port: Output, large: boolean) {
super();
this.port = port;
this.large = large;
}
/**
@ -95,30 +97,46 @@ namespace output {
on(power: number = 50) {
this.setPower(power);
const b = mkCmd(this.port, DAL.opOutputStart, 0)
writePWM(b);
writePWM(b);
}
/**
* Power on the motor for a specified number of milliseconds.
* Powers on the motor for a specified number of milliseconds.
* @param motor the motor to turn on
* @param power the motor power level from ``-100`` to ``100``, eg: 50
* @param ms the number of milliseconds to turn the motor on, eg: 500
* @param milliseconds the number of milliseconds to turn the motor on, eg: 500
* @param brake whether or not to use the brake
*/
//% blockId=outputMotorOnForTime block="%motor|ON at power %power|for %ms=timePicker|ms then brake %brake"
//% blockId=outputMotorOnForTime block="%motor|ON at power %power|for %milliseconds=timePicker|ms then brake %brake"
//% power.min=-100 power.max=100
//% brake.fieldEditor=toggleonoff
//% weight=98 group="Motors" blockGap=8
onForTime(power: number, ms: number, brake = false) {
onForTime(power: number, milliseconds: number, brake = false) {
step(this.port, {
power,
step1: 0,
step2: ms,
step2: milliseconds,
step3: 0,
useSteps: false,
useBrake: brake
})
loops.pause(ms);
loops.pause(milliseconds);
}
/**
* Powers on the motor for a specified number of milliseconds.
* @param motor the motor to turn on
* @param power the motor power level from ``-100`` to ``100``, eg: 50
* @param degrees the number of degrees to turn, eg: 90
* @param brake whether or not to use the brake
*/
//% blockId=outputMotorOnForAngle block="%motor|ON at power %power|for %degrees|deg then brake %brake"
//% power.min=-100 power.max=100
//% degrees.min=-360 degrees.max=360
//% brake.fieldEditor=toggleonoff
//% weight=97 group="Motors" blockGap=8
onForAngle(power: number, degrees: number, brake = false) {
// TODO
}
/**
@ -143,20 +161,32 @@ namespace output {
//% weight=50 group="Motors" blockGap=8
speed() {
return getMotorData(this.port).actualSpeed;
}
}
}
//% whenUsed fixedInstance block="motor B"
export const motorB = new Motor(Output.B);
//% whenUsed fixedInstance block="large motor A"
export const largeMotorA = new Motor(Output.A, true);
//% whenUsed fixedInstance block="motor C"
export const motorC = new Motor(Output.C);
//% whenUsed fixedInstance block="large motor B"
export const largeMotorB = new Motor(Output.B, true);
//% whenUsed fixedInstance block="motor A"
export const motorA = new Motor(Output.A);
//% whenUsed fixedInstance block="large motor C"
export const largeMotorC = new Motor(Output.C, true);
//% whenUsed fixedInstance block="motor D"
export const motorD = new Motor(Output.D);
//% whenUsed fixedInstance block="large motor D"
export const largeMotorD = new Motor(Output.D, true);
//% whenUsed fixedInstance block="medium motor A"
export const mediumMotorA = new Motor(Output.A, false);
//% whenUsed fixedInstance block="medium motor B"
export const mediumMotorB = new Motor(Output.B, false);
//% whenUsed fixedInstance block="medium motor C"
export const mediumMotorC = new Motor(Output.C, false);
//% whenUsed fixedInstance block="medium motor D"
export const mediumMotorD = new Motor(Output.D, false);
function reset(out: Output) {
let b = mkCmd(out, DAL.opOutputReset, 0)