From c35dbdd38fbc98e0ea712a34c325165d290fb05e Mon Sep 17 00:00:00 2001 From: Peli de Halleux Date: Tue, 2 Jan 2018 16:20:00 -0800 Subject: [PATCH] Motor sync support in simulator (#159) * parse sync motor command * better sim support * sync support * fixing tank --- libs/core/_locales/core-jsdoc-strings.json | 2 +- libs/core/_locales/core-strings.json | 2 +- libs/core/output.ts | 24 +- package-lock.json | 4683 ++++++++++++++++++++ sim/state/motornode.ts | 47 +- sim/state/output.ts | 19 + 6 files changed, 4758 insertions(+), 19 deletions(-) create mode 100644 package-lock.json diff --git a/libs/core/_locales/core-jsdoc-strings.json b/libs/core/_locales/core-jsdoc-strings.json index faf6ef75..3d4c57e7 100644 --- a/libs/core/_locales/core-jsdoc-strings.json +++ b/libs/core/_locales/core-jsdoc-strings.json @@ -77,7 +77,7 @@ "motors.MotorBase.stop": "Stops the motor(s).", "motors.SynchedMotorPair.steer": "Turns the motor and the follower motor by a number of rotations", "motors.SynchedMotorPair.steer|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50", - "motors.SynchedMotorPair.steer|param|steering": "the ratio of power sent to the follower motor, from ``-100`` to ``100``", + "motors.SynchedMotorPair.steer|param|turnRatio": "the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 100", "motors.SynchedMotorPair.steer|param|unit": "the meaning of the value", "motors.SynchedMotorPair.steer|param|value": "the move quantity, eg: 2", "motors.SynchedMotorPair.tank": "The Move Tank block can make a robot drive forward, backward, turn, or stop. \nUse the Move Tank block for robot vehicles that have two Large Motors, \nwith one motor driving the left side of the vehicle and the other the right side. \nYou can make the two motors go at different speeds or in different directions \nto make your robot turn.", diff --git a/libs/core/_locales/core-strings.json b/libs/core/_locales/core-strings.json index 6e94110a..1d67c37b 100644 --- a/libs/core/_locales/core-strings.json +++ b/libs/core/_locales/core-strings.json @@ -54,7 +54,7 @@ "motors.MotorBase.setBrake|block": "set %motor|brake %brake", "motors.MotorBase.setReversed|block": "set %motor|reversed %reversed", "motors.MotorBase.setSpeed|block": "set speed of %motor|to %speed|%", - "motors.SynchedMotorPair.steer|block": "steer %chassis|%steering|%|at speed %speed|%|by %value|%unit", + "motors.SynchedMotorPair.steer|block": "steer %chassis|%turnRatio|%|at speed %speed|%|by %value|%unit", "motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit", "motors.largeAB|block": "large A+B", "motors.largeAD|block": "large A+D", diff --git a/libs/core/output.ts b/libs/core/output.ts index cdd980ee..108013df 100644 --- a/libs/core/output.ts +++ b/libs/core/output.ts @@ -14,7 +14,7 @@ enum Output { //% block="C+D" CD = Output.C | Output.D, //% block="A+D" - AD = Output.B | Output.C, + AD = Output.A | Output.D, //% block="All" ALL = 0x0f } @@ -439,17 +439,17 @@ namespace motors { /** * Turns the motor and the follower motor by a number of rotations + * @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 100 + * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50 * @param value the move quantity, eg: 2 * @param unit the meaning of the value - * @param steering the ratio of power sent to the follower motor, from ``-100`` to ``100`` - * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50 */ - //% blockId=motorPairTurn block="steer %chassis|%steering|%|at speed %speed|%|by %value|%unit" + //% blockId=motorPairTurn block="steer %chassis|%turnRatio|%|at speed %speed|%|by %value|%unit" //% weight=9 blockGap=8 - //% steering.min=-100 steering=100 + //% turnRatio.min=-200 turnRatio=200 //% inlineInputMode=inline //% group="Chassis" - steer(steering: number, speed: number, value: number, unit: MoveUnit) { + steer(turnRatio: number, speed: number, value: number, unit: MoveUnit) { this.init(); speed = Math.clamp(-100, 100, speed >> 0); if (!speed) { @@ -457,7 +457,7 @@ namespace motors { return; } - const turnRatio = Math.clamp(-200, 200, steering + 100 >> 0); + turnRatio = Math.clamp(-200, 200, turnRatio >> 0); let useSteps: boolean; let stepsOrTime: number; switch (unit) { @@ -470,7 +470,7 @@ namespace motors { useSteps = true; break; default: - stepsOrTime = value; + stepsOrTime = value >> 0; useSteps = false; break; } @@ -502,10 +502,10 @@ namespace motors { //% inlineInputMode=inline //% group="Chassis" tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) { - speedLeft = Math.clamp(speedLeft >> 0, -100, 100); - speedRight = Math.clamp(speedRight >> 0, -100, 100); - const steering = (speedRight * 100 / speedLeft) >> 0; - this.steer(speedLeft, steering, value, unit); + speedLeft = Math.clamp(-100, 100, speedLeft >> 0); + speedRight = Math.clamp(-100, 100, speedRight >> 0); + const turnRatio = speedLeft == 0 ? 0 : speedRight / speedLeft * 100; + this.steer(turnRatio, speedLeft, value, unit); } /** diff --git a/package-lock.json b/package-lock.json new file mode 100644 index 00000000..e6dfd928 --- /dev/null +++ b/package-lock.json @@ -0,0 +1,4683 @@ +{ + "name": "pxt-ev3", + "version": "0.0.46", + "lockfileVersion": 1, + "requires": true, + "dependencies": { + "@types/bluebird": { + "version": "2.0.33", + "resolved": "https://registry.npmjs.org/@types/bluebird/-/bluebird-2.0.33.tgz", + "integrity": "sha512-iq7ss0qO31YCYeLEPrBoVMDLw1dBotOS7394a+Dj2CSvQNjQfJvryVo9es5ghvQZmIqO7Q0tlCe9YpwTZKOoXg==", + "dev": true + }, + "@types/jquery": { + "version": "3.2.16", + "resolved": "https://registry.npmjs.org/@types/jquery/-/jquery-3.2.16.tgz", + "integrity": "sha512-q2WC02YxQoX2nY1HRKlYGHpGP1saPmD7GN0pwCDlTz35a4eOtJG+aHRlXyjCuXokUukSrR2aXyBhSW3j+jPc0A==", + "dev": true + }, + "@types/marked": { + "version": "0.3.0", + 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1); + return this.speed * (this.polarity == 0 ? -1 : 1); } getAngle() { return this.angle; } + // returns the slave motor if any + getSynchedMotor() { + return this._synchedMotor; + } + setSpeedCmd(cmd: DAL, values: number[]) { this.speedCmd = cmd; this.speedCmdValues = values; this.speedCmdTacho = this.angle; this.speedCmdTime = pxsim.U.now(); + delete this._synchedMotor; + } + + setSyncCmd(motor: MotorNode, cmd: DAL, values: number[]) { + this.setSpeedCmd(cmd, values); + this._synchedMotor = motor; } clearSpeedCmd() { delete this.speedCmd; + delete this._synchedMotor; } setLarge(large: boolean) { @@ -77,7 +90,7 @@ namespace pxsim { console.log(`motor: ${elapsed}ms - ${this.speed}% - ${this.angle}> - ${this.tacho}|`) const interval = Math.min(20, elapsed); let t = 0; - while(t < elapsed) { + while (t < elapsed) { let dt = interval; if (t + dt > elapsed) dt = elapsed - t; this.updateStateStep(dt); @@ -97,14 +110,14 @@ namespace pxsim { case DAL.opOutputTimeSpeed: case DAL.opOutputTimePower: case DAL.opOutputStepPower: - case DAL.opOutputStepSpeed: + case DAL.opOutputStepSpeed: { // ramp up, run, ramp down, using time const speed = this.speedCmdValues[0]; const step1 = this.speedCmdValues[1]; const step2 = this.speedCmdValues[2]; const step3 = this.speedCmdValues[3]; const brake = this.speedCmdValues[4]; - const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed) + const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed) ? pxsim.U.now() - this.speedCmdTime : this.tacho - this.speedCmdTacho; if (dstep < step1) // rampup @@ -117,9 +130,33 @@ namespace pxsim { if (brake) this.speed = 0; this.clearSpeedCmd(); } - this.speed = Math.round(this.speed); // integer only break; + } + case DAL.opOutputStepSync: + case DAL.opOutputTimeSync: { + if (!this._synchedMotor) // handled in other motor code + break; + + const otherMotor = this._synchedMotor; + const speed = this.speedCmdValues[0]; + const turnRatio = this.speedCmdValues[1]; + const stepsOrTime = this.speedCmdValues[2]; + const brake = this.speedCmdValues[3]; + const dstep = this.speedCmd == DAL.opOutputTimeSync + ? pxsim.U.now() - this.speedCmdTime + : this.tacho - this.speedCmdTacho; + if (dstep < stepsOrTime) + this.speed = speed; + else { + if (brake) this.speed = 0; + this.clearSpeedCmd(); + } + // send synched motor state + otherMotor.speed = Math.floor(this.speed * turnRatio / 100); + break; + } } + this.speed = Math.round(this.speed); // integer only // compute delta angle const rotations = this.getSpeed() / 100 * this.rotationsPerMilliSecond * elapsed; diff --git a/sim/state/output.ts b/sim/state/output.ts index 53d9f420..a20ed50a 100644 --- a/sim/state/output.ts +++ b/sim/state/output.ts @@ -56,6 +56,25 @@ namespace pxsim { motors.forEach(motor => motor.setSpeedCmd(cmd, [speed, step1, step2, step3, brake])); return 2; } + case DAL.opOutputStepSync: + case DAL.opOutputTimeSync: { + const port = buf.data[1]; + const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte + // note that b[3] is padding + const turnRatio = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int16LE, 4); + // b[6], b[7] is padding + const stepsOrTime = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8); + const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 12); + + const motors = ev3board().getMotor(port); + for (const motor of motors) { + const otherMotor = motors.filter(m => m.port != motor.port)[0]; + motor.setSyncCmd( + motor.port < otherMotor.port ? otherMotor : undefined, + cmd, [speed, turnRatio, stepsOrTime, brake]); + } + return 2; + } case DAL.opOutputStop: { // stop const port = buf.data[1];