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Pulling updates from master (#951)

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* show ports on start

* don't run show ports automatically

* polarity in synched motor (#945)

* account for polarity

* more comments

* handle dual motor in runtime

* invert steer

* don't use firmware polarity

* add block to stop program (#943)

* add block to stop program

* renaming

* fix translation
This commit is contained in:
Peli de Halleux 2019-10-18 22:53:30 -07:00 committed by GitHub
parent 00194d4aa6
commit bc4b71e0d6
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GPG Key ID: 4AEE18F83AFDEB23
13 changed files with 97 additions and 50 deletions
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18
docs/reference/brick/exit-program.md Normal file
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@ -0,0 +1,18 @@
# exit Program
Stops the program and returns to the brick menu
```sig
brick.exitProgram();
```
## Example
Do a sequence of motor commands and stop the program.
```blocks
motors.largeA.run(50)
pause(500)
motors.stopAll()
brick.exitProgram();
```

6
fieldeditors/field_motors.ts
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@ -149,9 +149,9 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
getFirstValueI11n(value: string) {
const firstValue = this.getFirstValue(value);
const motorOptions = {
'medium motor': lf('medium motor'),
'large motor': lf('large motor'),
'large motors': lf('large motors')
'medium motor': lf("medium motor"),
'large motor': lf("large motor"),
'large motors': lf("large motors")
}
return motorOptions[firstValue];
}

1
libs/core/battery.ts
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@ -26,6 +26,7 @@ namespace brick {
*/
//% blockId=brickBatteryProperty block="battery %property"
//% group="Battery"
//% blockGap=8
//% help=brick/battery-property
export function batteryInfo(property: BatteryProperty): number {
const info = sensors.internal.getBatteryInfo();

2
libs/core/buttons.ts
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@ -85,7 +85,7 @@ namespace brick {
//% blockId=buttonIsPressed
//% parts="brick"
//% blockNamespace=brick
//% weight=81 blockGap=8
//% weight=81
//% group="Buttons"
//% button.fieldEditor="brickbuttons"
isPressed() {

8
libs/core/input.ts
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@ -104,7 +104,7 @@ namespace sensors.internal {
}
}
function init() {
export function init() {
if (sensorInfos) return
sensorInfos = []
for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensorInfos.push(new SensorInfo(i))
@ -137,6 +137,7 @@ namespace sensors.internal {
buf[UartCtlOff.Port] = port
buf[UartCtlOff.Mode] = mode
uartMM.ioctl(IO.UART_READ_MODE_INFO, buf)
control.dmesg(`UART_READ_MODE_INFO ${buf.toHex()}`)
return buf
//let info = `t:${buf[TypesOff.Type]} c:${buf[TypesOff.Connection]} m:${buf[TypesOff.Mode]} n:${buf.slice(0, 12).toHex()}`
//serial.writeLine("UART " + port + " / " + mode + " - " + info)
@ -558,7 +559,7 @@ void cUiUpdatePower(void)
}
function setUartModes() {
control.dmesg(`UART set modes`)
control.dmesg(`UART set modes ${devcon.toHex()}`)
uartMM.ioctl(IO.UART_SET_CONN, devcon)
const ports: number[] = [];
for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
@ -570,7 +571,7 @@ void cUiUpdatePower(void)
while (ports.length) {
const port = ports.pop();
const status = waitNonZeroUartStatus(port)
control.dmesg(`UART set mode ${status} at ${port}`);
control.dmesg(`UART status ${status} at ${port}`);
}
}
@ -586,6 +587,7 @@ void cUiUpdatePower(void)
while (true) {
if (port < 0) return
updateUartMode(port, mode);
control.dmesg(`UART_SET_CONN ${devcon.toHex()}`)
uartMM.ioctl(IO.UART_SET_CONN, devcon)
let status = waitNonZeroUartStatus(port)
if (status & UART_PORT_CHANGED) {

18
libs/core/output.ts
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@ -55,7 +55,7 @@ namespace motors {
Size = 12
}
function init() {
export function init() {
if (pwmMM) return
pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
if (!pwmMM) control.fail("no PWM file")
@ -159,6 +159,7 @@ namespace motors {
private _accelerationTime: number;
private _decelerationSteps: number;
private _decelerationTime: number;
private _inverted: boolean;
protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];
@ -176,6 +177,7 @@ namespace motors {
this._accelerationTime = 0;
this._decelerationSteps = 0;
this._decelerationTime = 0;
this._inverted = false;
}
/**
@ -225,9 +227,11 @@ namespace motors {
//% help=motors/motor/set-inverted
setInverted(inverted: boolean) {
this.init();
const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
writePWM(b)
this._inverted = inverted;
}
protected invertedFactor(): number {
return this._inverted ? -1 : 1;
}
/**
@ -294,8 +298,9 @@ namespace motors {
}
private normalizeSchedule(speed: number, step1: number, step2: number, step3: number, unit: MoveUnit): MoveSchedule {
// motor polarity is not supported at the firmware level for sync motor operations
const r: MoveSchedule = {
speed: Math.clamp(-100, 100, speed >> 0),
speed: Math.clamp(-100, 100, speed | 0) * this.invertedFactor(),
useSteps: true,
steps: [step1 || 0, step2 || 0, step3 || 0]
}
@ -562,6 +567,7 @@ namespace motors {
private __init() {
this.setOutputType(this._large);
this.setInverted(false);
}
/**
@ -741,7 +747,7 @@ namespace motors {
//% help=motors/synced/steer
steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0);
speed = Math.clamp(-100, 100, speed >> 0) * this.invertedFactor();
if (!speed) {
this.stop();
return;

13
libs/ev3/brick.ts Normal file
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@ -0,0 +1,13 @@
namespace brick {
/**
* Exits the program to the main menu. (in the simulator restarts it)
*/
//% blockId=loopstop block="exit program"
//% help=reference/brick/exit-program
//% weight=10
//% blockGap=8
//% group="Buttons"
export function exitProgram() {
control.reset();
}
}

2
libs/ev3/ns.ts
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@ -1,6 +1,6 @@
//% color="#68C3E2" weight=100 icon="\uf106"
//% groups='["Buttons", "Screen", "Battery"]'
//% groups='["Buttons", "Screen", "Power"]'
//% labelLineWidth=60
namespace brick {
}

1
libs/ev3/pxt.json
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@ -4,6 +4,7 @@
"files": [
"README.md",
"ns.ts",
"brick.ts",
"startup.ts",
"images.jres",
"images.ts",

8
libs/ev3/startup.ts
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@ -2,9 +2,5 @@
console.addListener(function(msg: string) {
control.dmesg(msg.substr(0, msg.length - 1))
})
// pulse green, play startup sound, turn off light
brick.setStatusLight(StatusLight.GreenPulse);
// We pause for 100ms to give time to read sensor values, so they work in on_start block
pause(400)
// and we're ready
brick.setStatusLight(StatusLight.Off);
brick.showBoot();

49
libs/screen/targetoverrides.ts
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@ -129,8 +129,8 @@ namespace brick {
screenMode = ScreenMode.Ports;
renderPorts();
control.runInParallel(function() {
while(screenMode == ScreenMode.Ports) {
control.runInParallel(function () {
while (screenMode == ScreenMode.Ports) {
renderPorts();
pause(50);
}
@ -140,8 +140,20 @@ namespace brick {
function renderPorts() {
const col = 44;
const lineHeight8 = image.font8.charHeight + 2;
const h = screen.height;
const w = screen.width;
const blink = (control.millis() >> 5) % (h - 1);
clearScreen();
for (let i = 0; i < 4; ++i) {
const x = i * col + 2;
screen.print("ABCD"[i], x, 1 * lineHeight8, 1, image.font8)
screen.print((i + 1).toString(), x, h - lineHeight8, 1, image.font8)
}
screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
function scale(x: number) {
if (Math.abs(x) >= 5000) {
const k = Math.floor(x / 1000);
@ -155,25 +167,38 @@ namespace brick {
const datas = motors.getAllMotorData();
for (let i = 0; i < datas.length; ++i) {
const data = datas[i];
const x = i * col + 2;
if (!data.actualSpeed && !data.count) continue;
const x = i * col;
screen.print("ABCD"[i], x + 2, 1 * lineHeight8, 1, image.font8)
screen.print(`${scale(data.actualSpeed)}%`, x + 2, 3 * lineHeight8, 1, image.font8)
screen.print(`${scale(data.count)}>`, x + 2, 4 * lineHeight8, 1, image.font8)
screen.print(`${scale(data.actualSpeed)}%`, x, 3 * lineHeight8, 1, image.font8)
screen.print(`${scale(data.count)}>`, x, 4 * lineHeight8, 1, image.font8)
}
screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
// sensors
const sis = sensors.internal.getActiveSensors();
const h = screen.height;
screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
for (let i = 0; i < sis.length; ++i) {
const si = sis[i];
const x = (si.port() - 1) * col;
const x = (si.port() - 1) * col + 2;
const inf = si._info();
screen.print(si.port() + "", x, h - 4 * lineHeight8, 1, image.font8)
screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
if (inf)
screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
}
// alive dot
screen.setPixel(w - 1, blink, 1);
screen.setPixel(w - 1, blink - 1, 1);
screen.setPixel(w - 2, blink - 1, 1);
screen.setPixel(w - 2, blink, 1);
}
export function showBoot() {
// pulse green, play startup sound, turn off light
brick.setStatusLight(StatusLight.GreenPulse);
// We pause for 100ms to give time to read sensor values, so they work in on_start block
sensors.internal.init();
motors.init();
pause(800);
// and we're ready
brick.setStatusLight(StatusLight.Off);
}
/**

13
sim/state/motornode.ts
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@ -9,7 +9,6 @@ namespace pxsim {
private angle: number = 0;
private tacho: number = 0;
private speed: number = 0;
private polarity: number = 1; // -1, 1 or -1
private started: boolean;
private speedCmd: DAL;
@ -31,7 +30,7 @@ namespace pxsim {
}
getSpeed() {
return Math.round(this.speed * (!this._synchedMotor && this.polarity == 0 ? -1 : 1));
return Math.round(this.speed);
}
getAngle() {
@ -82,16 +81,6 @@ namespace pxsim {
return this.id == NodeType.LargeMotor;
}
setPolarity(polarity: number) {
// Either 1 or 255 (reverse)
/*
-1 : Motor will run backward
0 : Motor will run opposite direction
1 : Motor will run forward
*/
this.polarity = polarity;
}
reset() {
// not sure what reset does...
}

6
sim/state/output.ts
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@ -119,11 +119,7 @@ namespace pxsim {
return 2;
}
case DAL.opOutputPolarity: {
// reverse
const port = buf.data[1];
const polarity = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
const motors = ev3board().getMotor(port);
motors.forEach(motor => motor.setPolarity(polarity));
console.error("opOutputPolarity not supported");
return 2;
}
case DAL.opOutputSetType: {