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updating motor state in game loop

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This commit is contained in:
Peli de Halleux 2017-12-19 16:03:26 -08:00
parent a7d002d949
commit aa031036ee
3 changed files with 25 additions and 59 deletions
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70
sim/state/motors.ts
View File

@ -5,13 +5,15 @@ namespace pxsim {
protected angle: number = 0;
private rotationsPerMilliSecond: number;
private speed: number;
private large: boolean;
private rotation: number;
private polarity: boolean;
constructor(port: number) {
constructor(port: number, rpm: number) {
super(port);
this.rotationsPerMilliSecond = rpm / 60000;
}
setSpeed(speed: number) {
@ -19,7 +21,6 @@ namespace pxsim {
this.speed = speed;
this.changed = true;
this.setChangedState();
this.playMotorAnimation();
}
}
@ -58,40 +59,21 @@ namespace pxsim {
return this.angle;
}
protected abstract playMotorAnimation(): void;
updateState(elapsed: number) {
const rotations = this.getSpeed() / 100 * this.rotationsPerMilliSecond * elapsed;
const angle = rotations * 360;
if (angle) {
this.angle += angle;
this.setChangedState();
}
}
}
export class MediumMotorNode extends MotorNode {
id = NodeType.MediumMotor;
constructor(port: number) {
super(port);
}
protected lastMotorAnimationId: number;
protected playMotorAnimation() {
// Max medium motor RPM is 250 according to http://www.cs.scranton.edu/~bi/2015s-html/cs358/EV3-Motor-Guide.docx
const rotationsPerMinute = 250; // 250 rpm at speed 100
const rotationsPerSecond = rotationsPerMinute / 60;
const fps = GAME_LOOP_FPS;
const rotationsPerFrame = rotationsPerSecond / fps;
let now;
let then = Date.now();
let interval = 1000 / fps;
let delta;
let that = this;
function draw() {
that.lastMotorAnimationId = requestAnimationFrame(draw);
now = Date.now();
delta = now - then;
if (delta > interval) {
then = now - (delta % interval);
const rotations = that.getSpeed() / 100 * rotationsPerFrame;
const angle = rotations * 360;
that.angle += angle;
}
}
draw();
super(port, 250);
}
}
@ -99,33 +81,7 @@ namespace pxsim {
id = NodeType.LargeMotor;
constructor(port: number) {
super(port);
}
protected lastMotorAnimationId: number;
protected playMotorAnimation() {
// Max medium motor RPM is 170 according to http://www.cs.scranton.edu/~bi/2015s-html/cs358/EV3-Motor-Guide.docx
const rotationsPerMinute = 170; // 170 rpm at speed 100
const rotationsPerSecond = rotationsPerMinute / 60;
const fps = GAME_LOOP_FPS;
const rotationsPerFrame = rotationsPerSecond / fps;
let now;
let then = Date.now();
let interval = 1000 / fps;
let delta;
let that = this;
function draw() {
that.lastMotorAnimationId = requestAnimationFrame(draw);
now = Date.now();
delta = now - then;
if (delta > interval) {
then = now - (delta % interval);
const rotations = that.getSpeed() / 100 * rotationsPerFrame;
const angle = rotations * 360;
that.angle += angle;
}
}
draw();
super(port, 170);
}
}
}

8
sim/state/nodeTypes.ts
View File

@ -36,5 +36,13 @@ namespace pxsim {
setChangedState() {
this.changed = true;
}
/**
* Updates any internal state according to the elapsed time since the last call to `updateState`
* @param elapsed
*/
updateState(elapsed: number) {
}
}
}

6
sim/visuals/board.ts
View File

@ -375,16 +375,17 @@ namespace pxsim.visuals {
delta = now - then;
if (delta > interval) {
then = now - (delta % interval);
that.updateStateStep();
that.updateStateStep(delta);
}
}
loop();
}
private updateStateStep() {
private updateStateStep(elapsed: number) {
const selected = this.layoutView.getSelected();
const inputNodes = ev3board().getInputNodes();
inputNodes.forEach((node, index) => {
node.updateState(elapsed);
if (!node.didChange()) return;
const view = this.getDisplayViewForNode(node.id, index);
if (view) {
@ -400,6 +401,7 @@ namespace pxsim.visuals {
const outputNodes = ev3board().getMotors();
outputNodes.forEach((node, index) => {
node.updateState(elapsed);
if (!node.didChange()) return;
const view = this.getDisplayViewForNode(node.id, index);
if (view) {