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Merge pull request #121 from Microsoft/motorphysics

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Motor work
This commit is contained in:
Sam El-Husseini
2017-12-19 17:07:15 -08:00
committed by GitHub
parent d3dcb5de85 9cca35d49f
commit c989e2fdab
7 changed files with 39 additions and 71 deletions
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14
sim/state/motor.ts
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@ -15,11 +15,19 @@ namespace pxsim {
MMapMethods.register("/dev/lms_motor", {
data,
beforeMemRead: () => {
const outputs = ev3board().outputNodes;
console.log("motor before read");
for (let port = 0; port < DAL.NUM_OUTPUTS; ++port) {
data[MotorDataOff.TachoCounts * port] = 0; // Tacho count
data[MotorDataOff.Speed * port] = 50; // Speed
data[MotorDataOff.TachoSensor * port] = 0; // Count
const output = outputs[port];
const speed = output ? Math.round(outputs[port].getSpeed()) : 0;
const angle = output ? Math.round(outputs[port].getAngle()) : 0;
const tsi = MotorDataOff.TachoSensor + port * MotorDataOff.Size;
data[MotorDataOff.TachoCounts + port * MotorDataOff.Size] = 0; // Tacho count
data[MotorDataOff.Speed + port * MotorDataOff.Size] = speed; // Speed
data[tsi] = angle & 0xff; // Count
data[tsi + 1] = (angle >> 8) & 0xff; // Count
data[tsi + 2] = (angle >> 16) & 0xff; // Count
data[tsi + 3] = (angle >> 24) & 0xff; // Count
}
},
read: buf => {

70
sim/state/motors.ts
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@ -5,13 +5,15 @@ namespace pxsim {
protected angle: number = 0;
private rotationsPerMilliSecond: number;
private speed: number;
private large: boolean;
private rotation: number;
private polarity: boolean;
constructor(port: number) {
constructor(port: number, rpm: number) {
super(port);
this.rotationsPerMilliSecond = rpm / 60000;
}
setSpeed(speed: number) {
@ -19,7 +21,6 @@ namespace pxsim {
this.speed = speed;
this.changed = true;
this.setChangedState();
this.playMotorAnimation();
}
}
@ -58,40 +59,21 @@ namespace pxsim {
return this.angle;
}
protected abstract playMotorAnimation(): void;
updateState(elapsed: number) {
const rotations = this.getSpeed() / 100 * this.rotationsPerMilliSecond * elapsed;
const angle = rotations * 360;
if (angle) {
this.angle += angle;
this.setChangedState();
}
}
}
export class MediumMotorNode extends MotorNode {
id = NodeType.MediumMotor;
constructor(port: number) {
super(port);
}
protected lastMotorAnimationId: number;
protected playMotorAnimation() {
// Max medium motor RPM is 250 according to http://www.cs.scranton.edu/~bi/2015s-html/cs358/EV3-Motor-Guide.docx
const rotationsPerMinute = 250; // 250 rpm at speed 100
const rotationsPerSecond = rotationsPerMinute / 60;
const fps = GAME_LOOP_FPS;
const rotationsPerFrame = rotationsPerSecond / fps;
let now;
let then = Date.now();
let interval = 1000 / fps;
let delta;
let that = this;
function draw() {
that.lastMotorAnimationId = requestAnimationFrame(draw);
now = Date.now();
delta = now - then;
if (delta > interval) {
then = now - (delta % interval);
const rotations = that.getSpeed() / 100 * rotationsPerFrame;
const angle = rotations * 360;
that.angle += angle;
}
}
draw();
super(port, 250);
}
}
@ -99,33 +81,7 @@ namespace pxsim {
id = NodeType.LargeMotor;
constructor(port: number) {
super(port);
}
protected lastMotorAnimationId: number;
protected playMotorAnimation() {
// Max medium motor RPM is 170 according to http://www.cs.scranton.edu/~bi/2015s-html/cs358/EV3-Motor-Guide.docx
const rotationsPerMinute = 170; // 170 rpm at speed 100
const rotationsPerSecond = rotationsPerMinute / 60;
const fps = GAME_LOOP_FPS;
const rotationsPerFrame = rotationsPerSecond / fps;
let now;
let then = Date.now();
let interval = 1000 / fps;
let delta;
let that = this;
function draw() {
that.lastMotorAnimationId = requestAnimationFrame(draw);
now = Date.now();
delta = now - then;
if (delta > interval) {
then = now - (delta % interval);
const rotations = that.getSpeed() / 100 * rotationsPerFrame;
const angle = rotations * 360;
that.angle += angle;
}
}
draw();
super(port, 170);
}
}
}

8
sim/state/nodeTypes.ts
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@ -36,5 +36,13 @@ namespace pxsim {
setChangedState() {
this.changed = true;
}
/**
* Updates any internal state according to the elapsed time since the last call to `updateState`
* @param elapsed
*/
updateState(elapsed: number) {
}
}
}

4
sim/state/output.ts
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@ -37,7 +37,7 @@ namespace pxsim {
case DAL.opOutputStepSpeed: {
// step speed
const port = buf.data[1];
const speed = buf.data[2];
const speed = buf.data[2] << 24 >> 24; // signed byte
// note that b[3] is padding
const step1 = buf.data[4];
const step2 = buf.data[5]; // angle
@ -59,7 +59,7 @@ namespace pxsim {
case DAL.opOutputSpeed: {
// setSpeed
const port = buf.data[1];
const speed = buf.data[2];
const speed = buf.data[2] << 24 >> 24; // signed byte
const motors = ev3board().getMotor(port);
motors.forEach(motor => motor.setSpeed(speed));
return 2;