support for unregulated motors (#227)

libs/core/_locales/core-jsdoc-strings.json

@@ -61,6 +61,8 @@
   "control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
   "motors.Motor.angle": "Gets motor angle.",
   "motors.Motor.clearCounts": "Clears the motor count",
+  "motors.Motor.setRegulated": "Indicates if the motor speed should be regulated. Default is true.",
+  "motors.Motor.setRegulated|param|value": "true for regulated motor",
   "motors.Motor.speed": "Gets motor actual speed.",
   "motors.Motor.tacho": "Gets motor tachometer count.",
   "motors.Motor.toString": "Returns the status of the motor",

libs/core/_locales/core-strings.json

@@ -52,6 +52,7 @@
   "control|block": "control",
   "motors.Motor.angle|block": "%motor|angle",
   "motors.Motor.clearCounts|block": "%motor|clear counts",
+  "motors.Motor.setRegulated|block": "set %motor|regulated %value",
   "motors.Motor.speed|block": "%motor|speed",
   "motors.Motor.tacho|block": "%motor|tacho",
   "motors.MotorBase.pauseUntilReady|block": "%motor|pause until ready",

libs/core/output.ts

@@ -175,7 +175,7 @@ namespace motors {
         */
         //% blockId=motorSetReversed block="set %motor|reversed %reversed"
         //% reversed.fieldEditor=toggleonoff
-        //% weight=59
+        //% weight=59 blockGap=8
         //% group="Move"
         setReversed(reversed: boolean) {
             this.init();
@@ -282,10 +282,12 @@ namespace motors {
     //% fixedInstances
     export class Motor extends MotorBase {
         private _large: boolean;
+        private _regulated: boolean;
 
         constructor(port: Output, large: boolean) {
             super(port, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
             this._large = large;
+            this._regulated = true;
             this.markUsed();
         }
 
@@ -301,7 +303,7 @@ namespace motors {
         }
 
         private __setSpeed(speed: number) {
-            const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
+            const b = mkCmd(this._port, this._regulated ? DAL.opOutputPower : DAL.opOutputSpeed, 1)
             b.setNumber(NumberFormat.Int8LE, 2, speed)
             writePWM(b)
             if (speed) {
@@ -315,11 +317,24 @@ namespace motors {
                 step1: 0,
                 step2: stepsOrTime,
                 step3: 0,
-                speed: speed,
+                speed: this._regulated ? speed : undefined,
+                power: this._regulated ? undefined : speed,
                 useBrake: this._brake
             })
         }
 
+        /**
+         * Indicates if the motor speed should be regulated. Default is true.
+         * @param value true for regulated motor
+         */
+        //% blockId=outputMotorSetRegulated block="set %motor|regulated %value"
+        //% value.fieldEditor=toggleonoff
+        //% weight=58
+        //% group="Move"
+        setRegulated(value: boolean) {
+            this._regulated = value;
+        }
+
         /**
          * Gets motor actual speed.
          * @param motor the port which connects to the motor