108 lines
3.0 KiB
TypeScript
108 lines
3.0 KiB
TypeScript
enum Output {
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A = 0x01,
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B = 0x02,
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C = 0x04,
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D = 0x08,
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ALL = 0x0f
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}
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enum OutputType {
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None = 0,
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Tacho = 7,
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MiniTacho = 8,
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}
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namespace output {
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//% shim=output::writePWM
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function writePWM(buf: Buffer): void { }
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function mkCmd(out: Output, cmd: number, addSize: number) {
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let b = createBuffer(2 + addSize)
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b.setNumber(NumberFormat.UInt8LE, 0, cmd)
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b.setNumber(NumberFormat.UInt8LE, 1, out)
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return b
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}
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export function stop(out: Output, useBreak = false) {
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let b = mkCmd(out, LMS.opOutputStop, 1)
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b.setNumber(NumberFormat.UInt8LE, 2, useBreak ? 1 : 0)
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writePWM(b)
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}
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export function start(out: Output) {
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let b = mkCmd(out, LMS.opOutputStart, 0)
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writePWM(b)
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}
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export function reset(out: Output) {
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let b = mkCmd(out, LMS.opOutputReset, 0)
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writePWM(b)
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}
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export function setSpeed(out: Output, speed: number) {
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let b = mkCmd(out, LMS.opOutputSpeed, 1)
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b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, speed))
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writePWM(b)
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}
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export function setPower(out: Output, power: number) {
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let b = mkCmd(out, LMS.opOutputPower, 1)
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b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, power))
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writePWM(b)
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}
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export function setPolarity(out: Output, polarity: number) {
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let b = mkCmd(out, LMS.opOutputPolarity, 1)
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b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-1, 1, polarity))
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writePWM(b)
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}
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export interface StepOptions {
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power?: number;
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speed?: number; // either speed or power has to be present
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step1: number;
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step2: number;
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step3: number;
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useSteps?: boolean; // otherwise use milliseconds
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useBreak?: boolean;
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}
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export function step(out: Output, opts: StepOptions) {
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let op = opts.useSteps ? LMS.opOutputStepSpeed : LMS.opOutputTimeSpeed
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let speed = opts.speed
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if (speed == null) {
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speed = opts.power
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op = opts.useSteps ? LMS.opOutputStepPower : LMS.opOutputTimePower
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if (speed == null)
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return
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}
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speed = Math.clamp(-100, 100, speed)
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let b = mkCmd(out, op, 15)
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b.setNumber(NumberFormat.Int8LE, 2, speed)
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// note that b[3] is padding
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b.setNumber(NumberFormat.Int32LE, 4 + 4 * 0, opts.step1)
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b.setNumber(NumberFormat.Int32LE, 4 + 4 * 1, opts.step2)
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b.setNumber(NumberFormat.Int32LE, 4 + 4 * 2, opts.step3)
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b.setNumber(NumberFormat.Int8LE, 4 + 4 * 3, opts.useBreak ? 1 : 0)
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writePWM(b)
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}
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const types = [0, 0, 0, 0]
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export function setType(out: Output, type: OutputType) {
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let b = mkCmd(out, LMS.opOutputSetType, 3)
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for (let i = 0; i < 4; ++i) {
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if (out & (1 << i)) {
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types[i] = type
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}
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b.setNumber(NumberFormat.UInt8LE, i + 1, types[i])
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}
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writePWM(b)
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}
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}
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interface Buffer {
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[index: number]: number;
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// rest defined in buffer.cpp
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} |