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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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5
libs/chassis/_locales/chassis-jsdoc-strings.json
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@ -1,12 +1,9 @@
{
"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.driveFor": "Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)\nusing a unicycle model.",
"chassis.Chassis.driveFor|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
"chassis.Chassis.driveFor|param|speed": "speed of the center point between motors, eg: 10",
"chassis.Chassis.driveFor|param|value": "the amount of movement, eg: 2",
"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.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",

1
libs/chassis/_locales/chassis-strings.json
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@ -1,7 +1,6 @@
{
"ChassisProperty.BaseLength|block": "base length (cm)",
"ChassisProperty.WheelRadius|block": "wheel radius (cm)",
"chassis.Chassis.driveFor|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
"chassis.Chassis.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s",
"chassis.Chassis.setMotors|block": "set %chassis|motors to %motors",
"chassis.Chassis.setProperty|block": "set %chassis|%property|to %value",

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)
}
/**