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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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6
libs/core/_locales/core-jsdoc-strings.json
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@ -51,10 +51,13 @@
"control.raiseEvent": "Announce that an event happened to registered handlers.",
"control.raiseEvent|param|src": "ID of the Component that generated the event",
"control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
"motors.Motor.isReady": "Returns a value indicating if the motor is still running a previous command.",
"motors.Motor.move": "Moves the motor by a number of rotations, degress or seconds",
"motors.Motor.move|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.Motor.move|param|unit": "the meaning of the value",
"motors.Motor.move|param|value": "the move quantity, eg: 2",
"motors.Motor.pauseUntilReady": "Pauses the execution until the previous command finished.",
"motors.Motor.pauseUntilReady|param|timeOut": "optional maximum pausing time in milliseconds",
"motors.Motor.reset": "Resets the motor(s).",
"motors.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
"motors.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",
@ -62,10 +65,9 @@
"motors.Motor.setSpeed": "Sets the speed of the motor.",
"motors.Motor.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.Motor.stop": "Stops the motor(s).",
"motors.SingleMotor.angle": "Gets motor ration angle.",
"motors.SingleMotor.clearCount": "Clears the motor count",
"motors.SingleMotor.count": "Gets motor step count.",
"motors.SingleMotor.speed": "Gets motor actual speed.",
"motors.SingleMotor.tachoCount": "Gets motor tacho count.",
"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``",

6
libs/core/_locales/core-strings.json
View File

@ -13,8 +13,8 @@
"LightsPattern.RedPulse|block": "Pulsing Red",
"LightsPattern.Red|block": "Red",
"MoveUnit.Degrees|block": "degrees",
"MoveUnit.MilliSeconds|block": "milliseconds",
"MoveUnit.Rotations|block": "rotations",
"MoveUnit.Seconds|block": "seconds",
"Output.AB|block": "A+B",
"Output.AD|block": "A+D",
"Output.ALL|block": "All",
@ -44,12 +44,12 @@
"control.raiseEvent|block": "raise event|from %src|with value %value",
"control|block": "control",
"motors.Motor.move|block": "move `icons.motorLarge` %motor|for %value|%unit|at %speed|%",
"motors.Motor.pauseUntilReady|block": "%motor|pause until ready",
"motors.Motor.setBrake|block": "set `icons.motorLarge` %motor|brake %brake",
"motors.Motor.setReversed|block": "set `icons.motorLarge` %motor|reversed %reversed",
"motors.Motor.setSpeed|block": "set speed of `icons.motorLarge` %motor|to %speed|%",
"motors.SingleMotor.count|block": "`icons.motorLarge` %motor|count",
"motors.SingleMotor.angle|block": "`icons.motorLarge` %motor|angle",
"motors.SingleMotor.speed|block": "`icons.motorLarge` %motor|speed",
"motors.SingleMotor.tachoCount|block": "`icons.motorLarge` %motor|tacho count",
"motors.SynchedMotorPair.steer|block": "steer %chassis|%steering|%|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",

51
libs/core/output.ts
View File

@ -30,8 +30,8 @@ enum MoveUnit {
Rotations,
//% block="degrees"
Degrees,
//% block="seconds"
Seconds
//% block="milliseconds"
MilliSeconds
}
namespace motors {
@ -65,9 +65,9 @@ namespace motors {
pwmMM.write(buf)
}
function readPWM(buf: Buffer): void {
function readPWM(buf: Buffer): number {
init()
pwmMM.read(buf);
return pwmMM.read(buf);
}
function mkCmd(out: Output, cmd: number, addSize: number) {
@ -220,6 +220,27 @@ namespace motors {
this._move(useSteps, stepsOrTime, speed);
}
/**
* Returns a value indicating if the motor is still running a previous command.
*/
//%
isReady(): boolean {
this.init();
const r = readPWM(mkCmd(this._port, DAL.opOutputTest, 0))
// 0 = ready, 1 = busy
return r == 0;
}
/**
* Pauses the execution until the previous command finished.
* @param timeOut optional maximum pausing time in milliseconds
*/
//% blockId=motorPauseUntilRead block="%motor|pause until ready"
//% group="Motion"
pauseUntilReady(timeOut: number = -1) {
pauseUntil(() => this.isReady(), timeOut);
}
}
//% fixedInstances
@ -248,7 +269,7 @@ namespace motors {
b.setNumber(NumberFormat.Int8LE, 2, speed)
writePWM(b)
if (speed) {
writePWM(mkCmd(this._port, DAL.opOutputStart, 0))
writePWM(mkCmd(this._port, DAL.opOutputStart, 0))
}
}
@ -276,27 +297,15 @@ namespace motors {
}
/**
* Gets motor step count.
* Gets motor ration angle.
* @param motor the port which connects to the motor
*/
//% blockId=motorCount block="`icons.motorLarge` %motor|count"
//% weight=71 blockGap=8
//% group="Sensors"
count(): number {
this.init();
return getMotorData(this._port).count;
}
/**
* Gets motor tacho count.
* @param motor the port which connects to the motor
*/
//% blockId=motorTachoCount block="`icons.motorLarge` %motor|tacho count"
//% blockId=motorTachoCount block="`icons.motorLarge` %motor|angle"
//% weight=70
//% group="Sensors"
tachoCount(): number {
angle(): number {
this.init();
return getMotorData(this._port).tachoCount;
return getMotorData(this._port).count;
}
/**