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Simulator support for motor commands (#137)

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* support for "step" functions

* locale files

* enum issue

* fixing decoding of array

* implement clear count

* log unknown commands
This commit is contained in:
Peli de Halleux
2017-12-27 17:05:15 -08:00
committed by GitHub
parent 751df2fe8c
commit f01370e4fd
3 changed files with 113 additions and 70 deletions
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35
sim/state/output.ts
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@ -34,24 +34,32 @@ namespace pxsim {
motors.forEach(motor => motor.reset());
return 2;
}
case DAL.opOutputStepSpeed: {
case DAL.opOutputClearCount:
const port = buf.data[1];
const motors = ev3board().getMotor(port);
motors.forEach(motor => motor.clearCount());
break;
case DAL.opOutputStepPower:
case DAL.opOutputStepSpeed:
case DAL.opOutputTimePower:
case DAL.opOutputTimeSpeed: {
// step speed
const port = buf.data[1];
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
const step3 = buf.data[6];
const brake = buf.data[7];
const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte
// note that b[3] is padding
const step1 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 4);
const step2 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8);
const step3 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 12);
const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 16);
//console.log(buf);
const motors = ev3board().getMotor(port);
motors.forEach(motor => motor.stepSpeed(speed, step2, brake === 1));
motors.forEach(motor => motor.setSpeedCmd(cmd, [speed, step1, step2, step3, brake]));
return 2;
}
case DAL.opOutputStop: {
// stop
const port = buf.data[1];
const brake = buf.data[2];
const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
const motors = ev3board().getMotor(port);
motors.forEach(motor => motor.stop());
return 2;
@ -59,9 +67,9 @@ namespace pxsim {
case DAL.opOutputSpeed: {
// setSpeed
const port = buf.data[1];
const speed = buf.data[2] << 24 >> 24; // signed byte
const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
const motors = ev3board().getMotor(port);
motors.forEach(motor => motor.setSpeed(speed));
motors.forEach(motor => motor.setSpeedCmd(cmd, [speed]));
return 2;
}
case DAL.opOutputStart: {
@ -74,7 +82,7 @@ namespace pxsim {
case DAL.opOutputPolarity: {
// reverse
const port = buf.data[1];
const polarity = buf.data[2];
const polarity = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
const motors = ev3board().getMotor(port);
motors.forEach(motor => motor.setPolarity(polarity));
return 2;
@ -86,6 +94,9 @@ namespace pxsim {
motors.forEach(motor => motor.setLarge(large));
return 2;
}
default:
console.warn('unknown cmd: ' + cmd);
break;
}
console.log("pwm write");