c_meyer/pxt-ev3
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge branch 'master' of https://github.com/microsoft/pxt-ev3

Browse Source
This commit is contained in:
Peli de Halleux 2019-09-06 06:22:36 -07:00
commit b08dd8a7d2
6 changed files with 93 additions and 78 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
docs/reference/motors/motor/set-brake-settle-time.md Normal file
View File

@ -0,0 +1,30 @@
# set Brake Settle Time
Set the time to wait after a motor stopped to allow it settle
when brake is enabled. Default is 10ms.
```sig
motors.largeA.setBrakeSettleTime(200)
```
When a the motor is stopped and brake is applied, it can still wiggle for a little while. You can use the settle time to automatically way after stopping and let the robot settle.
## Parameters
* **time**: a [number](/types/number) value which represents the number of milliseconds to wait after braking.
## Example
Set the brake mode and the settle time to 500ms. Run the motor connected to port **A** for 2 seconds at a speed of `30` and stop after 2s.
```blocks
motors.largeA.setBrake(true)
motors.largeA.setBrakeSettleTime(500)
motors.largeA.run(30)
pause(2000)
motors.largeA.stop()
```
## See also
[stop](/reference/motors/motor/stop)

10
docs/reference/motors/motor/set-brake.md
View File

@ -1,28 +1,28 @@
# set Brake
Set the brake on the motor so it won't turn when it has no power.
Set the brake on the motor so it will brake when it finishes a brake command.
```sig
motors.largeA.setBrake(false)
```
When a the motor is stopped, it can still rotate if an external force is applied to it. This can happen, for example, if your're tanking your brick on a inclined surface and stop the motors. Gravity will push down on the brick and might cause it to start rolling again. You can prevent this movement by setting the brake.
When a the motor is stopped, it can still rotate if an external force is applied to it. This can happen, for example, if you're tanking your brick on a inclined surface and stop the motors. Gravity will push down on the brick and might cause it to start rolling again. You can prevent this movement by setting the brake.
Also, you can use the brake to do simple skid steering for your brick.
## Paramters
## Parameters
* **brake**: a [boolean](/types/boolean) value which is either `true` to set the brake on or `false` to set the brake off.
## Example
Run the motor connected to port **A** for 2 seconds at a speed of `30`. Stop and set the brake.
Run the motor connected to port **A** for 2 seconds at a speed of `30` and stop after 2s.
```blocks
motors.largeA.setBrake(true)
motors.largeA.run(30)
pause(2000)
motors.largeA.stop()
motors.largeA.setBrake(true)
```
## See also

20
docs/reference/motors/motor/set-run-acceleration-ramp.md
View File

@ -1,20 +0,0 @@
# Set Run Acceleration Ramp
```sig
motors.largeD.setRunAccelerationRamp(1, MoveUnit.Seconds)
```
## Examples
```blocks
brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
motors.largeB.run(50, 6, MoveUnit.Rotations)
})
brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
motors.largeC.run(50, 6, MoveUnit.Seconds)
})
motors.largeB.setRunAccelerationRamp(360, MoveUnit.Degrees)
motors.largeB.setRunDecelerationRamp(360, MoveUnit.Degrees)
motors.largeC.setRunAccelerationRamp(2, MoveUnit.Seconds)
motors.largeC.setRunDecelerationRamp(2, MoveUnit.Seconds)
```

20
docs/reference/motors/motor/set-run-deceleration-ramp.md
View File

@ -1,20 +0,0 @@
# Set Run Deceleration Ramp
```sig
motors.largeD.setRunDecelerationRamp(1, MoveUnit.Seconds)
```
## Examples
```blocks
brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
motors.largeB.run(50, 6, MoveUnit.Rotations)
})
brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
motors.largeC.run(50, 6, MoveUnit.Seconds)
})
motors.largeB.setRunAccelerationRamp(360, MoveUnit.Degrees)
motors.largeB.setRunDecelerationRamp(360, MoveUnit.Degrees)
motors.largeC.setRunAccelerationRamp(2, MoveUnit.Seconds)
motors.largeC.setRunDecelerationRamp(2, MoveUnit.Seconds)
```

26
docs/reference/motors/motor/set-run-phase.md Normal file
View File

@ -0,0 +1,26 @@
# Set Run Phase
Allows to specify an acceleration or deceleration phases for run commands.
```sig
motors.largeD.setRunPhase(MovePhase.Acceleration, 1, MoveUnit.Seconds)
```
Once the run phase is specified on a motor (or pair of motors),
it will be automatically applied to [run](/reference/motors/run) commands.
## Time vs Rotation
The phases specified for time units (seconds, milliseconds) only apply to run with time
moves. Similarly, the phases specified for rotation units (# rotation, degrees) only
apply to run with rotation units.
## Examples
```blocks
motors.largeB.setRunPhase(MovePhase.Acceleration, 0.5, MoveUnit.Seconds)
motors.largeB.setRunPhase(MovePhase.Deceleration, 0.2, MoveUnit.Seconds)
forever(function () {
motors.largeB.run(50, 1, MoveUnit.Seconds)
})
```

65
libs/core/output.ts
View File

@ -36,6 +36,13 @@ enum MoveUnit {
MilliSeconds
}
enum MovePhase {
//% block="acceleration"
Acceleration,
//% block="deceleration"
Deceleration
}
namespace motors {
let pwmMM: MMap
let motorMM: MMap
@ -226,6 +233,7 @@ namespace motors {
//% weight=1 blockGap=8
//% group="Properties"
//% millis.defl=200 millis.min=0 millis.max=500
//% help=motors/motor/set-brake-settle-time
setBrakeSettleTime(millis: number) {
this.init();
// ensure in [0,500]
@ -388,50 +396,41 @@ namespace motors {
* Specifies the amount of rotation or time for the acceleration
* of run commands.
*/
//% blockId=outputMotorsetRunAcceleration block="set %motor|run acceleration ramp to $value||$unit"
//% blockId=outputMotorsetRunRamp block="set %motor|run %ramp to $value||$unit"
//% motor.fieldEditor="motors"
//% weight=21 blockGap=8
//% group="Properties"
//% help=motors/motor/set-run-acceleration-ramp
setRunAccelerationRamp(value: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
//% help=motors/motor/set-run-phase
setRunPhase(phase: MovePhase, value: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
let temp: number;
switch (unit) {
case MoveUnit.Rotations:
this._accelerationSteps = Math.max(0, (value * 360) | 0);
temp = Math.max(0, (value * 360) | 0);
if (phase == MovePhase.Acceleration)
this._accelerationSteps = temp;
else
this._decelerationSteps = temp;
break;
case MoveUnit.Degrees:
this._accelerationSteps = Math.max(0, value | 0);
temp = Math.max(0, value | 0);
if (phase == MovePhase.Acceleration)
this._accelerationSteps = temp;
else
this._decelerationSteps = temp;
break;
case MoveUnit.Seconds:
this._accelerationTime = Math.max(0, (value * 1000) | 0);
temp = Math.max(0, (value * 1000) | 0);
if (phase == MovePhase.Acceleration)
this._accelerationTime = temp;
else
this._decelerationTime = temp;
break;
case MoveUnit.MilliSeconds:
this._accelerationTime = Math.max(0, value | 0);
break;
}
}
/**
* Specifies the amount of rotation or time for the acceleration
* of run commands.
*/
//% blockId=outputMotorsetRunDeceleration block="set %motor|run deceleration ramp to $value||$unit"
//% motor.fieldEditor="motors"
//% weight=20 blockGap=8
//% group="Properties"
//% help=motors/motor/set-run-deceleration-ramp
setRunDecelerationRamp(value: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
switch (unit) {
case MoveUnit.Rotations:
this._decelerationSteps = Math.max(0, (value * 360) | 0);
break;
case MoveUnit.Degrees:
this._decelerationSteps = Math.max(0, value | 0);
break;
case MoveUnit.Seconds:
this._decelerationTime = Math.max(0, (value * 1000) | 0);
break;
case MoveUnit.MilliSeconds:
this._decelerationTime = Math.max(0, value | 0);
temp = Math.max(0, value | 0);
if (phase == MovePhase.Acceleration)
this._accelerationTime = temp;
else
this._decelerationTime = temp;
break;
}
}