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fixing chassis

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This commit is contained in:
Peli de Halleux
2018-01-10 11:14:25 -08:00
parent 951b9be6e4
commit 9912d68c8b
3 changed files with 4 additions and 21 deletions
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19
libs/chassis/chassis.ts
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@ -24,19 +24,6 @@ namespace chassis {
this.baseLength = 12;
}
/**
* Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)
* 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
*/
//% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s"
//% inlineInputMode=inline
//% weight=99 blockGap=8
drive(speed: number, rotationSpeed: number) {
this.driveFor(speed, rotationSpeed, 0, MoveUnit.Degrees);
}
/**
* Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)
* using a unicycle model.
@ -45,10 +32,10 @@ namespace chassis {
* @param value the amount of movement, eg: 2
* @param unit
*/
//% blockId=motorDriveFor block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit"
//% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s"
//% inlineInputMode=inline
//% weight=95 blockGap=8
driveFor(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
drive(speed: number, rotationSpeed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
// speed is expressed in %
const R = this.wheelRadius; // cm
const L = this.baseLength; // cm
@ -65,7 +52,7 @@ namespace chassis {
const sr = vr / maxw * 100; // %
const sl = vl / maxw * 100; // %
this.motors.tankFor(sr, sl, value, unit)
this.motors.tank(sr, sl, value, unit)
}
/**