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Motor sync support in simulator (#159)

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* parse sync motor command

* better sim support

* sync support

* fixing tank
This commit is contained in:
Peli de Halleux
2018-01-02 16:20:00 -08:00
committed by GitHub
parent 1bc93013e6
commit c35dbdd38f
6 changed files with 4758 additions and 19 deletions
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24
libs/core/output.ts
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@@ -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);
}
/**