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add "pause on run" flag to disable waiting after command (#663)

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* add "pause on run" flag to disable waiting after command

* refactor

* fixing build
This commit is contained in:
Peli de Halleux 2018-06-01 08:51:50 -07:00 committed by GitHub
parent a8249e94c5
commit c288242b9c
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 32 additions and 9 deletions
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41
libs/core/output.ts
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@ -132,6 +132,7 @@ namespace motors {
protected _port: Output; protected _port: Output;
protected _portName: string; protected _portName: string;
protected _brake: boolean; protected _brake: boolean;
private _pauseOnRun: boolean;
private _initialized: boolean; private _initialized: boolean;
private _init: () => void; private _init: () => void;
private _run: (speed: number) => void; private _run: (speed: number) => void;
@ -142,6 +143,7 @@ namespace motors {
this._port = port; this._port = port;
this._portName = outputToName(this._port); this._portName = outputToName(this._port);
this._brake = false; this._brake = false;
this._pauseOnRun = true;
this._initialized = false; this._initialized = false;
this._init = init; this._init = init;
this._run = run; this._run = run;
@ -172,6 +174,19 @@ namespace motors {
this._brake = brake; this._brake = brake;
} }
/**
* Indicates to pause while a motor moves for a given distance or duration.
* @param value true to pause; false to continue the program execution
*/
//% blockId=outputMotorSetPauseMode block="set %motor|pause on run %brake=toggleOnOff"
//% motor.fieldEditor="motors"
//% weight=60 blockGap=8
//% group="Properties"
setPauseOnRun(value: boolean) {
this.init();
this._pauseOnRun = value;
}
/** /**
* Inverts the motor polarity * Inverts the motor polarity
*/ */
@ -201,13 +216,22 @@ namespace motors {
this.settle(); this.settle();
} }
private settle() { protected settle() {
// if we've recently completed a motor command with brake // if we've recently completed a motor command with brake
// allow 500ms for robot to settle // allow 500ms for robot to settle
if(this._brake) if (this._brake)
pause(500); pause(500);
} }
protected pauseOnRun(stepsOrTime: number) {
if (stepsOrTime && this._pauseOnRun) {
// wait till motor is done with this work
this.pauseUntilReady();
// allow robot to settle
this.settle();
}
}
/** /**
* Resets the motor(s). * Resets the motor(s).
*/ */
@ -269,10 +293,7 @@ namespace motors {
} }
this._move(useSteps, stepsOrTime, speed); this._move(useSteps, stepsOrTime, speed);
// wait till motor is done with this work this.pauseOnRun(stepsOrTime);
this.pauseUntilReady();
// allow robot to settle
this.settle();
} }
/** /**
@ -306,12 +327,12 @@ namespace motors {
(Data8) NO – Port number [0 - 3] (Data8) NO – Port number [0 - 3]
(Data8) TYPE – Output device type, (0x07: Large motor, Medium motor = 0x08) Dispatch status Unchanged (Data8) TYPE – Output device type, (0x07: Large motor, Medium motor = 0x08) Dispatch status Unchanged
Description This function enables specifying the output device type Description This function enables specifying the output device type
*/ */
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) { for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (this._port & (1 << i)) { if (this._port & (1 << i)) {
const b = mkCmd(i, DAL.opOutputSetType, 1) const b = mkCmd(i, DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, large ? 0x07 : 0x08) b.setNumber(NumberFormat.Int8LE, 2, large ? 0x07 : 0x08)
writePWM(b) writePWM(b)
} }
} }
} }
@ -333,7 +354,7 @@ namespace motors {
motors.__motorUsed(this._port, this._large); motors.__motorUsed(this._port, this._large);
} }
private __init() { private __init() {
this.setOutputType(this._large); this.setOutputType(this._large);
} }
@ -572,6 +593,8 @@ namespace motors {
stepsOrTime: stepsOrTime, stepsOrTime: stepsOrTime,
useBrake: this._brake useBrake: this._brake
}); });
this.pauseOnRun(stepsOrTime);
} }
/** /**