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Merge pull request #12 from Microsoft/motors

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Converting motors to fixed instances
This commit is contained in:
Peli de Halleux 2017-10-25 06:09:27 +02:00 committed by GitHub
commit a18a690417
3 changed files with 132 additions and 133 deletions
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25
libs/core/_locales/core-jsdoc-strings.json
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@ -45,27 +45,22 @@
"input.remoteCenter": "Remote beacon (center) button.",
"input.remoteTopLeft": "Remote top-left button.",
"input.remoteTopRight": "Remote top-right button.",
"output.Motor.off": "Power off the motor.",
"output.Motor.on": "Power on the motor.",
"output.Motor.onForTime": "Power on the motor for a specified number of milliseconds.",
"output.Motor.onForTime|param|brake": "whether or not to use the brake",
"output.Motor.onForTime|param|ms": "the number of milliseconds to turn the motor on, eg: 500",
"output.Motor.onForTime|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
"output.Motor.on|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
"output.Motor.setPower": "Sets the motor power level from ``-100`` to ``100``.",
"output.Motor.setPower|param|power": "the desired speed to use. eg: 50",
"output.Motor.speed": "Gets motor actual speed.",
"output.createBuffer": "Create a new zero-initialized buffer.",
"output.createBuffer|param|size": "number of bytes in the buffer",
"output.getCurrentSpeed": "Get motor speed.",
"output.getCurrentSpeed|param|out": "the output connection that the motor is connected to",
"output.pattern": "Pattern block.",
"output.pattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
"output.powerMotor": "Switch the motor on or off.",
"output.powerMotor|param|on": "1 to turn the motor on, 0 to turn it off",
"output.powerMotor|param|out": "the output connection that the motor is connected to",
"output.setPower": "Set motor power.",
"output.setPower|param|out": "the output connection that the motor is connected to",
"output.setPower|param|power": "the desired power to use. eg: 100",
"output.setSpeed": "Set motor speed.",
"output.setSpeed|param|out": "the output connection that the motor is connected to",
"output.setSpeed|param|speed": "the desired speed to use. eg: 100",
"output.setStatusLight": "Set lights.",
"output.setStatusLight|param|pattern": "the lights pattern to use.",
"output.turn": "Turn a motor on for a specified number of milliseconds.",
"output.turn|param|ms": "the number of milliseconds to turn the motor on, eg: 500",
"output.turn|param|out": "the output connection that the motor is connected to",
"output.turn|param|useBrake": "whether or not to use the brake, defaults to false",
"screen.clear": "Clear screen and reset font to normal.",
"screen.doubleIcon": "Double size of an icon.",
"screen.drawIcon": "Draw an icon on the screen.",

19
libs/core/_locales/core-strings.json
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@ -12,6 +12,11 @@
"LightsPattern.RedFlash|block": "Flashing Red",
"LightsPattern.RedPulse|block": "Pulsing Red",
"LightsPattern.Red|block": "Red",
"Output.ALL|block": "All",
"Output.A|block": "A",
"Output.B|block": "B",
"Output.C|block": "C",
"Output.D|block": "D",
"TouchSensorEvent.Bumped|block": "bumped",
"TouchSensorEvent.Released|block": "released",
"TouchSensorEvent.Touched|block": "touched",
@ -57,13 +62,17 @@
"input.ultrasonic3|block": "ultrasonic sensor 3",
"input.ultrasonic4|block": "ultrasonic sensor 4",
"input|block": "input",
"output.getCurrentSpeed|block": "motor %out|speed",
"output.Motor.off|block": "%motor|OFF then brake %brake",
"output.Motor.onForTime|block": "%motor|ON at power %power|for %ms=timePicker|ms then brake %brake",
"output.Motor.on|block": "%motor|ON at power %power",
"output.Motor.setPower|block": "%motor|set power to %speed",
"output.Motor.speed|block": "%motor|speed",
"output.motorA|block": "motor A",
"output.motorB|block": "motor B",
"output.motorC|block": "motor C",
"output.motorD|block": "motor D",
"output.pattern|block": "%pattern",
"output.powerMotor|block": "power motor %out|%on",
"output.setPower|block": "set motor %out| power to %power",
"output.setSpeed|block": "set motor %out| speed to %speed",
"output.setStatusLight|block": "set status light %pattern=led_pattern",
"output.turn|block": "turn motor %out| on for %ms=timePicker|milliseconds",
"output|block": "output",
"screen.print|block": "print %text| at x: %x| y: %y",
"screen|block": "screen",

221
libs/core/output.ts
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@ -1,8 +1,13 @@
enum Output {
//% block="A"
A = 0x01,
//% block="B"
B = 0x02,
//% block="C"
C = 0x04,
//% block="D"
D = 0x08,
//% block="All"
ALL = 0x0f
}
@ -15,7 +20,6 @@ enum OutputType {
namespace output {
let pwmMM: MMap
let motorMM: MMap
let currentSpeed: number[] = []
const enum MotorDataOff {
TachoCounts = 0, // int32
@ -31,19 +35,13 @@ namespace output {
if (!pwmMM) control.fail("no PWM file")
motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
stop(Output.ALL)
currentSpeed[Output.A] = -1;
currentSpeed[Output.B] = -1;
currentSpeed[Output.C] = -1;
currentSpeed[Output.D] = -1;
currentSpeed[Output.ALL] = -1;
resetMotors()
let buf = output.createBuffer(1)
buf[0] = DAL.opProgramStart
writePWM(buf)
}
function writePWM(buf: Buffer): void {
init()
pwmMM.write(buf)
@ -55,81 +53,117 @@ namespace output {
}
function mkCmd(out: Output, cmd: number, addSize: number) {
let b = createBuffer(2 + addSize)
const b = createBuffer(2 + addSize)
b.setNumber(NumberFormat.UInt8LE, 0, cmd)
b.setNumber(NumberFormat.UInt8LE, 1, out)
return b
}
/**
* Turn a motor on for a specified number of milliseconds.
* @param out the output connection that the motor is connected to
* @param ms the number of milliseconds to turn the motor on, eg: 500
* @param useBrake whether or not to use the brake, defaults to false
*/
//% blockId=output_turn block="turn motor %out| on for %ms=timePicker|milliseconds"
//% weight=100 group="Motors"
export function turn(out: Output, ms: number, useBrake = false) {
// TODO: use current power / speed configuration
output.step(out, {
speed: 100,
step1: 0,
step2: ms,
step3: 0,
useSteps: false,
useBrake: useBrake
})
}
function resetMotors() {
reset(Output.ALL)
}
/**
* Switch the motor on or off.
* @param out the output connection that the motor is connected to
* @param on 1 to turn the motor on, 0 to turn it off
*/
//% blockId=outputMotorPowerOnOff block="power motor %out|%on"
//% weight=90 group="Motors"
//% on.fieldEditor="toggleonoff"
export function powerMotor(out: Output, on: boolean, useBrake = false) {
if (on) {
output.start(out);
} else {
output.stop(out, useBrake);
//% fixedInstances
export class Motor extends control.Component {
port: Output;
constructor(port: Output) {
super();
this.port = port;
}
/**
* Power off the motor.
* @param motor the motor to turn off
*/
//% blockId=outputMotorOf block="%motor|OFF then brake %brake"
//% brake.fieldEditor=toggleonoff
//% weight=100 group="Motors" blockGap=8
off(brake = false) {
const b = mkCmd(this.port, DAL.opOutputStop, 1)
b.setNumber(NumberFormat.UInt8LE, 2, brake ? 1 : 0)
writePWM(b)
}
/**
* Power on the motor.
* @param motor the motor to turn on
* @param power the motor power level from ``-100`` to ``100``, eg: 50
*/
//% blockId=outputMotorOn block="%motor|ON at power %power"
//% power.min=-100 power.max=100
//% weight=99 group="Motors" blockGap=8
on(power: number = 50) {
this.setPower(power);
const b = mkCmd(this.port, DAL.opOutputStart, 0)
writePWM(b);
}
/**
* Power 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 brake whether or not to use the brake
*/
//% blockId=outputMotorOnForTime block="%motor|ON at power %power|for %ms=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) {
step(this.port, {
power,
step1: 0,
step2: ms,
step3: 0,
useSteps: false,
useBrake: brake
})
loops.pause(ms);
}
/**
* Sets the motor power level from ``-100`` to ``100``.
* @param motor the output connection that the motor is connected to
* @param power the desired speed to use. eg: 50
*/
//% blockId=motorSetPower block="%motor|set power to %speed"
//% weight=60 group="Motors"
//% speed.min=-100 speed.max=100
setPower(power: number) {
const b = mkCmd(this.port, DAL.opOutputPower, 1)
b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, power))
writePWM(b)
}
/**
* Gets motor actual speed.
* @param motor the port which connects to the motor
*/
//% blockId=motorSpeed block="%motor|speed"
//% weight=50 group="Motors" blockGap=8
speed() {
return getMotorData(this.port).actualSpeed;
}
}
/**
* Turn motor off.
* @param out the output connection that the motor is connected to
*/
//% blockId=output_stop block="turn motor %out|off"
//% weight=90 group="Motors"
//% deprecated=1
export function stop(out: Output, useBrake = false) {
let b = mkCmd(out, DAL.opOutputStop, 1)
b.setNumber(NumberFormat.UInt8LE, 2, useBrake ? 1 : 0)
writePWM(b)
}
//% whenUsed fixedInstance block="motor B"
export const motorB = new Motor(Output.B);
/**
* Turn motor on.
* @param out the output connection that the motor is connected to
*/
//% blockId=output_start block="turn motor %out|on"
//% weight=95 group="Motors"
//% deprecated=1
export function start(out: Output) {
if (currentSpeed[out] == -1) setSpeed(out, 50)
let b = mkCmd(out, DAL.opOutputStart, 0)
writePWM(b)
}
//% whenUsed fixedInstance block="motor C"
export const motorC = new Motor(Output.C);
export function reset(out: Output) {
//% whenUsed fixedInstance block="motor A"
export const motorA = new Motor(Output.A);
//% whenUsed fixedInstance block="motor D"
export const motorD = new Motor(Output.D);
function reset(out: Output) {
let b = mkCmd(out, DAL.opOutputReset, 0)
writePWM(b)
}
export function clearCount(out: Output) {
function clearCount(out: Output) {
let b = mkCmd(out, DAL.opOutputClearCount, 0)
writePWM(b)
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
@ -147,14 +181,14 @@ namespace output {
return 0
}
export interface MotorData {
interface MotorData {
actualSpeed: number; // -100..+100
tachoCount: number;
count: number;
}
// only a single output at a time
export function getMotorData(out: Output): MotorData {
function getMotorData(out: Output): MotorData {
let buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
return {
actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),
@ -163,52 +197,13 @@ namespace output {
}
}
/**
* Get motor speed.
* @param out the output connection that the motor is connected to
*/
//% blockId=output_getCurrentSpeed block="motor %out|speed"
//% weight=70 group="Motors"
export function getCurrentSpeed(out: Output) {
return getMotorData(out).actualSpeed;
}
/**
* Set motor speed.
* @param out the output connection that the motor is connected to
* @param speed the desired speed to use. eg: 100
*/
//% blockId=output_setSpeed block="set motor %out| speed to %speed"
//% weight=81 group="Motors"
//% speed.min=-100 speed.max=100
export function setSpeed(out: Output, speed: number) {
currentSpeed[out] = speed;
let b = mkCmd(out, DAL.opOutputSpeed, 1)
b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, speed))
writePWM(b)
}
/**
* Set motor power.
* @param out the output connection that the motor is connected to
* @param power the desired power to use. eg: 100
*/
//% blockId=output_setPower block="set motor %out| power to %power"
//% weight=80 group="Motors"
//% power.min=-100 power.max=100
export function setPower(out: Output, power: number) {
let b = mkCmd(out, DAL.opOutputPower, 1)
b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, power))
writePWM(b)
}
export function setPolarity(out: Output, polarity: number) {
function setPolarity(out: Output, polarity: number) {
let b = mkCmd(out, DAL.opOutputPolarity, 1)
b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-1, 1, polarity))
writePWM(b)
}
export interface StepOptions {
interface StepOptions {
power?: number;
speed?: number; // either speed or power has to be present
step1: number;
@ -218,7 +213,7 @@ namespace output {
useBrake?: boolean;
}
export function step(out: Output, opts: StepOptions) {
function step(out: Output, opts: StepOptions) {
let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed
let speed = opts.speed
if (speed == null) {