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Motor pause until ready (#108)

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* adding command to pause until ready

* adding console API

* adding ready support for motors

* fix time output scale

* fixing angle
This commit is contained in:
Peli de Halleux
2017-12-18 14:13:38 -08:00
committed by GitHub
parent 04275ee35c
commit f1445c6e89
8 changed files with 132 additions and 93 deletions
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84
docs/tests/motors.md Normal file
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```typescript
let errors: string[] = [];
let tachoB = 0;
let tachoC = 0;
function assert(name: string, condition: boolean) {
if (!condition) {
errors.push(name)
}
}
function assertClose(name: string, expected: number, actual: number, tolerance = 5) {
const diff = Math.abs(expected - actual);
assert(name + ` ${expected}vs${actual}`, diff < tolerance);
}
function state(name: string, motor: motors.SingleMotor, line: number) {
brick.print(`${name}: ${motor.speed()}%,${motor.angle()}deg`, 0, 12 * line)
}
function test(name: string, f: () => void, check?: () => void) {
motors.stopAllMotors();
motors.largeB.clearCount()
motors.largeC.clearCount()
motors.largeB.setBrake(false)
motors.largeC.setBrake(false)
loops.pause(500);
tachoB = motors.largeB.angle()
tachoC = motors.largeC.angle()
brick.clearScreen()
brick.print(name, 0, 0)
state("B", motors.largeB, 1)
state("C", motors.largeC, 2)
f();
loops.pause(3000);
motors.largeB.setReversed(false);
motors.largeC.setReversed(false);
motors.mediumA.setReversed(false);
state("B", motors.largeB, 3)
state("C", motors.largeC, 4)
if (check)
check()
motors.stopAllMotors();
loops.pause(1000);
}
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
test("lgB set speed 10", () => {
motors.largeB.setSpeed(10)
}, () => assertClose("speedB", 10, motors.largeB.speed()));
test("lgB set speed 25 (reversed)", () => {
motors.largeB.setReversed(true)
motors.largeB.setSpeed(25)
}, () => assertClose("speedB", -25, motors.largeB.speed()));
test("lgBC set speed 5", () => {
motors.largeBC.setSpeed(5)
}, () => {
assertClose("speedB", 5, motors.largeB.speed());
assertClose("speedC", 5, motors.largeC.speed());
});
test("lgBC steer 50% 2x", () => {
motors.largeBC.setBrake(true)
motors.largeBC.steer(50, 50, 2, MoveUnit.Rotations)
}, () => assertClose("largeB", 720, motors.largeB.angle()));
test("lgBC steer 50% 500deg", () => {
motors.largeBC.setBrake(true)
motors.largeBC.steer(50, 50, 500, MoveUnit.Degrees)
}, () => assertClose("largeB", 500, motors.largeB.angle()));
test("lgBC steer 50% 2s", () => {
motors.largeBC.setBrake(true)
motors.largeBC.steer(50, 50, 2000, MoveUnit.MilliSeconds)
})
test("lgBC tank 50% 720deg", () => {
motors.largeBC.setBrake(true)
motors.largeBC.tank(50, 50, 720, MoveUnit.Degrees)
}, () => assertClose("largeB", 720, motors.largeB.angle()));
brick.clearScreen()
brick.print(`${errors.length} errors`, 0, 0)
let l = 1;
for (const error of errors)
brick.print(`error: ${error}`, 0, l++ * 12)
})
```

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docs/tests/motors.ts
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let errors: string[] = [];
let tachoB = 0;
let tachoC = 0;
function assert(name: string, condition: boolean) {
if (!condition) {
errors.push(name)
}
}
function assertClose(name: string, expected: number, actual: number, tolerance = 10) {
assert(name + ` ${expected}/${actual}`, Math.abs(expected - actual) < tolerance);
}
function test(name: string, f: () => void, check?: () => void) {
motors.stopAllMotors();
loops.pause(500);
tachoB = motors.largeB.tachoCount()
tachoC = motors.largeB.tachoCount()
brick.clearScreen()
brick.print(name, 0, 0)
f();
loops.pause(3000);
motors.stopAllMotors();
motors.largeB.setReversed(false);
motors.largeC.setReversed(false);
motors.mediumA.setReversed(false);
loops.pause(1000);
if (check)
check()
}
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
test("lgB set speed 100", () => {
motors.largeB.setSpeed(100)
});
test("lgB set speed (reversed)", () => {
motors.largeB.setReversed(true)
motors.largeB.setSpeed(100)
})
test("lgBC set speed 100", () => {
motors.largeBC.setSpeed(100)
})
test("lgBC steer 50% 2x", () => {
motors.largeBC.steer(50, 50, 2, MoveUnit.Rotations)
}, () => {
assertClose("largeB", 720, motors.largeB.tachoCount() - tachoB)
});
test("lgBC steer 50% 500deg", () => {
motors.largeBC.steer(50, 50, 500, MoveUnit.Degrees)
}, () => {
assertClose("largeB", 500, motors.largeB.tachoCount() - tachoB)
});
test("lgBC steer 50% 2s", () => {
motors.largeBC.steer(50, 50, 2, MoveUnit.Seconds)
})
test("lgBC tank 50% 2s", () => {
motors.largeBC.tank(50, 50, 720, MoveUnit.Degrees)
})
brick.clearScreen()
brick.print(`${errors.length} errors`, 0, 0)
let l = 1;
for(const error of errors)
brick.print(`error: ${error}`, 0, l++ * 12)
})