746 lines
24 KiB
TypeScript
746 lines
24 KiB
TypeScript
enum Output {
|
||
//% block="A"
|
||
A = 0x01,
|
||
//% block="B"
|
||
B = 0x02,
|
||
//% block="C"
|
||
C = 0x04,
|
||
//% block="D"
|
||
D = 0x08,
|
||
//% block="B+C"
|
||
BC = Output.B | Output.C,
|
||
//% block="A+B"
|
||
AB = Output.A | Output.B,
|
||
//% block="C+D"
|
||
CD = Output.C | Output.D,
|
||
//% block="A+D"
|
||
AD = Output.A | Output.D,
|
||
//% block="All"
|
||
ALL = 0x0f
|
||
}
|
||
|
||
enum OutputType {
|
||
None = 0,
|
||
Tacho = 7,
|
||
MiniTacho = 8,
|
||
}
|
||
|
||
enum MoveUnit {
|
||
//% block="rotations"
|
||
Rotations,
|
||
//% block="degrees"
|
||
Degrees,
|
||
//% block="seconds"
|
||
Seconds,
|
||
//% block="milliseconds"
|
||
MilliSeconds
|
||
}
|
||
|
||
namespace motors {
|
||
let pwmMM: MMap
|
||
let motorMM: MMap
|
||
|
||
const enum MotorDataOff {
|
||
TachoCounts = 0, // int32
|
||
Speed = 4, // int8
|
||
Padding = 5, // int8[3]
|
||
TachoSensor = 8, // int32
|
||
Size = 12
|
||
}
|
||
|
||
function init() {
|
||
if (pwmMM) return
|
||
pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
|
||
if (!pwmMM) control.fail("no PWM file")
|
||
motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
|
||
if (!motorMM) control.fail("no motor file")
|
||
|
||
resetAllMotors()
|
||
|
||
const buf = output.createBuffer(1)
|
||
buf[0] = DAL.opProgramStart
|
||
writePWM(buf)
|
||
}
|
||
|
||
/**
|
||
* Sends a command to the motors device
|
||
* @param buf the command buffer
|
||
*/
|
||
//%
|
||
export function writePWM(buf: Buffer): void {
|
||
init()
|
||
pwmMM.write(buf)
|
||
}
|
||
|
||
/**
|
||
* Sends and receives a message from the motors device
|
||
* @param buf message buffer
|
||
*/
|
||
//%
|
||
export function readPWM(buf: Buffer): void {
|
||
init()
|
||
pwmMM.read(buf);
|
||
}
|
||
|
||
/**
|
||
* Allocates a message buffer
|
||
* @param out ports
|
||
* @param cmd command id
|
||
* @param addSize required additional bytes
|
||
*/
|
||
//%
|
||
export function mkCmd(out: Output, cmd: number, addSize: number) {
|
||
const b = output.createBuffer(2 + addSize)
|
||
b.setNumber(NumberFormat.UInt8LE, 0, cmd)
|
||
b.setNumber(NumberFormat.UInt8LE, 1, out)
|
||
return b
|
||
}
|
||
|
||
export function outputToName(out: Output): string {
|
||
let r = "";
|
||
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
|
||
if (out & (1 << i)) {
|
||
if (r.length > 0) r += "+";
|
||
r += "ABCD"[i];
|
||
}
|
||
}
|
||
return r;
|
||
}
|
||
|
||
/**
|
||
* Stops all motors
|
||
*/
|
||
//% blockId=motorStopAll block="stop all motors"
|
||
//% weight=1
|
||
//% group="Move"
|
||
//% help=motors/stop-all
|
||
export function stopAll() {
|
||
const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
|
||
writePWM(b)
|
||
}
|
||
|
||
/**
|
||
* Resets all motors
|
||
*/
|
||
//% group="Move"
|
||
export function resetAllMotors() {
|
||
reset(Output.ALL)
|
||
}
|
||
|
||
//% fixedInstances
|
||
export class MotorBase extends control.Component {
|
||
protected _port: Output;
|
||
protected _portName: string;
|
||
protected _brake: boolean;
|
||
private _pauseOnRun: boolean;
|
||
private _initialized: boolean;
|
||
private _init: () => void;
|
||
private _run: (speed: number) => void;
|
||
private _move: (steps: boolean, stepsOrTime: number, speed: number) => void;
|
||
|
||
constructor(port: Output, init: () => void, run: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
|
||
super();
|
||
this._port = port;
|
||
this._portName = outputToName(this._port);
|
||
this._brake = false;
|
||
this._pauseOnRun = true;
|
||
this._initialized = false;
|
||
this._init = init;
|
||
this._run = run;
|
||
this._move = move;
|
||
}
|
||
|
||
/**
|
||
* Lazy initialization code
|
||
*/
|
||
protected init() {
|
||
if (!this._initialized) {
|
||
this._initialized = true;
|
||
this._init();
|
||
}
|
||
}
|
||
|
||
/**
|
||
* Sets the automatic brake on or off when the motor is off
|
||
* @param brake a value indicating if the motor should break when off
|
||
*/
|
||
//% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake=toggleOnOff"
|
||
//% motor.fieldEditor="motors"
|
||
//% weight=60 blockGap=8
|
||
//% group="Properties"
|
||
//% help=motors/motor/set-brake
|
||
setBrake(brake: boolean) {
|
||
this.init();
|
||
this._brake = brake;
|
||
}
|
||
|
||
/**
|
||
* Indicates to pause while a motor moves for a given distance or duration.
|
||
* @param value true to pause; false to continue the program execution
|
||
*/
|
||
//% blockId=outputMotorSetPauseMode block="set %motor|pause on run %brake=toggleOnOff"
|
||
//% motor.fieldEditor="motors"
|
||
//% weight=60 blockGap=8
|
||
//% group="Properties"
|
||
setPauseOnRun(value: boolean) {
|
||
this.init();
|
||
this._pauseOnRun = value;
|
||
}
|
||
|
||
/**
|
||
* Inverts the motor polarity
|
||
*/
|
||
//% blockId=motorSetInverted block="set %motor|inverted %reversed=toggleOnOff"
|
||
//% motor.fieldEditor="motors"
|
||
//% weight=59 blockGap=8
|
||
//% group="Properties"
|
||
//% help=motors/motor/set-inverted
|
||
setInverted(inverted: boolean) {
|
||
this.init();
|
||
const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
|
||
b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
|
||
writePWM(b)
|
||
}
|
||
|
||
/**
|
||
* Stops the motor(s).
|
||
*/
|
||
//% weight=6 blockGap=8
|
||
//% group="Move"
|
||
//% help=motors/motor/stop
|
||
//% blockId=motorStop block="stop %motors|"
|
||
//% motors.fieldEditor="motors"
|
||
stop() {
|
||
this.init();
|
||
stop(this._port, this._brake);
|
||
this.settle();
|
||
}
|
||
|
||
protected settle() {
|
||
// if we've recently completed a motor command with brake
|
||
// allow 500ms for robot to settle
|
||
if (this._brake)
|
||
pause(500);
|
||
}
|
||
|
||
protected pauseOnRun(stepsOrTime: number) {
|
||
if (stepsOrTime && this._pauseOnRun) {
|
||
// wait till motor is done with this work
|
||
this.pauseUntilReady();
|
||
// allow robot to settle
|
||
this.settle();
|
||
}
|
||
}
|
||
|
||
/**
|
||
* Resets the motor(s).
|
||
*/
|
||
//% weight=5
|
||
//% group="Move"
|
||
//% help=motors/motor/reset
|
||
//% blockId=motorReset block="reset %motors|"
|
||
//% motors.fieldEditor="motors"
|
||
reset() {
|
||
this.init();
|
||
reset(this._port);
|
||
}
|
||
|
||
/**
|
||
* Runs the motor at a given speed for limited time or distance.
|
||
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
|
||
* @param value (optional) measured distance or rotation
|
||
* @param unit (optional) unit of the value
|
||
*/
|
||
//% blockId=motorRun block="run %motor at %speed=motorSpeedPicker|\\%||for %value %unit"
|
||
//% weight=100 blockGap=8
|
||
//% group="Move"
|
||
//% motor.fieldEditor="motors"
|
||
//% expandableArgumentMode=toggle
|
||
//% help=motors/motor/run
|
||
run(speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
|
||
this.init();
|
||
speed = Math.clamp(-100, 100, speed >> 0);
|
||
// stop if speed is 0
|
||
if (!speed) {
|
||
this.stop();
|
||
return;
|
||
}
|
||
// special: 0 is infinity
|
||
if (value == 0) {
|
||
this._run(speed);
|
||
return;
|
||
}
|
||
// timed motor moves
|
||
let useSteps: boolean;
|
||
let stepsOrTime: number;
|
||
switch (unit) {
|
||
case MoveUnit.Rotations:
|
||
stepsOrTime = (value * 360) >> 0;
|
||
useSteps = true;
|
||
break;
|
||
case MoveUnit.Degrees:
|
||
stepsOrTime = value >> 0;
|
||
useSteps = true;
|
||
break;
|
||
case MoveUnit.Seconds:
|
||
stepsOrTime = (value * 1000) >> 0;
|
||
useSteps = false;
|
||
break;
|
||
default:
|
||
stepsOrTime = value;
|
||
useSteps = false;
|
||
break;
|
||
}
|
||
|
||
this._move(useSteps, stepsOrTime, speed);
|
||
this.pauseOnRun(stepsOrTime);
|
||
}
|
||
|
||
/**
|
||
* Returns a value indicating if the motor is still running a previous command.
|
||
*/
|
||
//% group="Sensors"
|
||
isReady(): boolean {
|
||
this.init();
|
||
const buf = mkCmd(this._port, DAL.opOutputTest, 2);
|
||
readPWM(buf)
|
||
const flags = buf.getNumber(NumberFormat.UInt8LE, 2);
|
||
return (~flags & this._port) == this._port;
|
||
}
|
||
|
||
/**
|
||
* Pauses the execution until the previous command finished.
|
||
* @param timeOut optional maximum pausing time in milliseconds
|
||
*/
|
||
//% blockId=motorPauseUntilRead block="pause until %motor|ready"
|
||
//% motor.fieldEditor="motors"
|
||
//% weight=90
|
||
//% group="Move"
|
||
pauseUntilReady(timeOut?: number) {
|
||
pauseUntil(() => this.isReady(), timeOut);
|
||
}
|
||
|
||
protected setOutputType(large: boolean) {
|
||
/*
|
||
Instruction opOutput_Set_Type (LAYER, NO, TYPE)
|
||
Opcode 0xA1 Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
|
||
(Data8) NO – Port number [0 - 3]
|
||
(Data8) TYPE – Output device type, (0x07: Large motor, Medium motor = 0x08) Dispatch status Unchanged
|
||
Description This function enables specifying the output device type
|
||
*/
|
||
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
|
||
if (this._port & (1 << i)) {
|
||
const b = mkCmd(i, DAL.opOutputSetType, 1)
|
||
b.setNumber(NumberFormat.Int8LE, 2, large ? 0x07 : 0x08)
|
||
writePWM(b)
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
//% fixedInstances
|
||
export class Motor extends MotorBase {
|
||
private _large: boolean;
|
||
private _regulated: boolean;
|
||
|
||
constructor(port: Output, large: boolean) {
|
||
super(port, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
|
||
this._large = large;
|
||
this._regulated = true;
|
||
this.markUsed();
|
||
}
|
||
|
||
markUsed() {
|
||
motors.__motorUsed(this._port, this._large);
|
||
}
|
||
|
||
private __init() {
|
||
this.setOutputType(this._large);
|
||
}
|
||
|
||
private __setSpeed(speed: number) {
|
||
const b = mkCmd(this._port, this._regulated ? DAL.opOutputSpeed : DAL.opOutputPower, 1)
|
||
b.setNumber(NumberFormat.Int8LE, 2, speed)
|
||
writePWM(b)
|
||
if (speed) {
|
||
writePWM(mkCmd(this._port, DAL.opOutputStart, 0))
|
||
}
|
||
}
|
||
|
||
private __move(steps: boolean, stepsOrTime: number, speed: number) {
|
||
step(this._port, {
|
||
useSteps: steps,
|
||
step1: 0,
|
||
step2: stepsOrTime,
|
||
step3: 0,
|
||
speed: this._regulated ? speed : undefined,
|
||
power: this._regulated ? undefined : speed,
|
||
useBrake: this._brake
|
||
})
|
||
}
|
||
|
||
/**
|
||
* Indicates if the motor speed should be regulated. Default is true.
|
||
* @param value true for regulated motor
|
||
*/
|
||
//% blockId=outputMotorSetRegulated block="set %motor|regulated %value=toggleOnOff"
|
||
//% motor.fieldEditor="motors"
|
||
//% weight=58
|
||
//% group="Properties"
|
||
//% help=motors/motor/set-regulated
|
||
setRegulated(value: boolean) {
|
||
this._regulated = value;
|
||
}
|
||
|
||
/**
|
||
* Gets motor actual speed.
|
||
* @param motor the port which connects to the motor
|
||
*/
|
||
//% blockId=motorSpeed block="%motor|speed"
|
||
//% motor.fieldEditor="motors"
|
||
//% weight=72
|
||
//% blockGap=8
|
||
//% group="Counters"
|
||
//% help=motors/motor/speed
|
||
speed(): number {
|
||
this.init();
|
||
return getMotorData(this._port).actualSpeed;
|
||
}
|
||
|
||
/**
|
||
* Gets motor angle.
|
||
* @param motor the port which connects to the motor
|
||
*/
|
||
//% blockId=motorAngle block="%motor|angle"
|
||
//% motor.fieldEditor="motors"
|
||
//% weight=70
|
||
//% blockGap=8
|
||
//% group="Counters"
|
||
//% help=motors/motor/angle
|
||
angle(): number {
|
||
this.init();
|
||
return getMotorData(this._port).count;
|
||
}
|
||
|
||
/**
|
||
* Clears the motor count
|
||
*/
|
||
//% blockId=motorClearCount block="clear %motor|counters"
|
||
//% motor.fieldEditor="motors"
|
||
//% weight=68
|
||
//% blockGap=8
|
||
//% group="Counters"
|
||
//% help=motors/motor/clear-counts
|
||
clearCounts() {
|
||
this.init();
|
||
const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
|
||
writePWM(b)
|
||
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
|
||
if (this._port & (1 << i)) {
|
||
motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
|
||
}
|
||
}
|
||
}
|
||
|
||
/**
|
||
* Returns the status of the motor
|
||
*/
|
||
//%
|
||
toString(): string {
|
||
return `${this._large ? "" : "M"}${this._portName} ${this.speed()}% ${this.angle()}>`;
|
||
}
|
||
}
|
||
|
||
//% whenUsed fixedInstance block="large motor A" jres=icons.portA
|
||
export const largeA = new Motor(Output.A, true);
|
||
|
||
//% whenUsed fixedInstance block="large motor B" jres=icons.portB
|
||
export const largeB = new Motor(Output.B, true);
|
||
|
||
//% whenUsed fixedInstance block="large motor C" jres=icons.portC
|
||
export const largeC = new Motor(Output.C, true);
|
||
|
||
//% whenUsed fixedInstance block="large motor D" jres=icons.portD
|
||
export const largeD = new Motor(Output.D, true);
|
||
|
||
//% whenUsed fixedInstance block="medium motor A" jres=icons.portA
|
||
export const mediumA = new Motor(Output.A, false);
|
||
|
||
//% whenUsed fixedInstance block="medium motor B" jres=icons.portB
|
||
export const mediumB = new Motor(Output.B, false);
|
||
|
||
//% whenUsed fixedInstance block="medium motor C" jres=icons.portC
|
||
export const mediumC = new Motor(Output.C, false);
|
||
|
||
//% whenUsed fixedInstance block="medium motor D" jres=icons.portD
|
||
export const mediumD = new Motor(Output.D, false);
|
||
|
||
//% fixedInstances
|
||
export class SynchedMotorPair extends MotorBase {
|
||
|
||
constructor(ports: Output) {
|
||
super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
|
||
this.markUsed();
|
||
}
|
||
|
||
markUsed() {
|
||
motors.__motorUsed(this._port, true);
|
||
}
|
||
|
||
private __init() {
|
||
this.setOutputType(true);
|
||
}
|
||
|
||
private __setSpeed(speed: number) {
|
||
syncMotors(this._port, {
|
||
speed: speed,
|
||
turnRatio: 0, // same speed
|
||
useBrake: !!this._brake
|
||
})
|
||
}
|
||
|
||
private __move(steps: boolean, stepsOrTime: number, speed: number) {
|
||
syncMotors(this._port, {
|
||
useSteps: steps,
|
||
speed: speed,
|
||
turnRatio: 0, // same speed
|
||
stepsOrTime: stepsOrTime,
|
||
useBrake: this._brake
|
||
});
|
||
}
|
||
|
||
/**
|
||
* The Move Tank block can make a robot drive forward, backward, turn, or stop.
|
||
* Use the Move Tank block for robot vehicles that have two Large Motors,
|
||
* with one motor driving the left side of the vehicle and the other the right side.
|
||
* You can make the two motors go at different speeds or in different directions
|
||
* to make your robot turn.
|
||
* @param speedLeft the speed on the left motor, eg: 50
|
||
* @param speedRight the speed on the right motor, eg: 50
|
||
* @param value (optional) move duration or rotation
|
||
* @param unit (optional) unit of the value
|
||
*/
|
||
//% blockId=motorPairTank block="tank **motors** %motors %speedLeft=motorSpeedPicker|\\% %speedRight=motorSpeedPicker|\\%||for %value %unit"
|
||
//% motors.fieldEditor="ports"
|
||
//% weight=96 blockGap=8
|
||
//% inlineInputMode=inline
|
||
//% group="Move"
|
||
//% expandableArgumentMode=toggle
|
||
//% help=motors/synced/tank
|
||
tank(speedLeft: number, speedRight: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
|
||
this.init();
|
||
|
||
speedLeft = Math.clamp(-100, 100, speedLeft >> 0);
|
||
speedRight = Math.clamp(-100, 100, speedRight >> 0);
|
||
|
||
const speed = Math.abs(speedLeft) > Math.abs(speedRight) ? speedLeft : speedRight;
|
||
const turnRatio = speedLeft == speed
|
||
? (100 - speedRight / speedLeft * 100)
|
||
: (speedLeft / speedRight * 100 - 100);
|
||
|
||
this.steer(turnRatio, speed, value, unit);
|
||
}
|
||
|
||
/**
|
||
* Turns the motor and the follower motor by a number of rotations
|
||
* @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0
|
||
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
|
||
* @param value (optional) move duration or rotation
|
||
* @param unit (optional) unit of the value
|
||
*/
|
||
//% blockId=motorPairSteer block="steer **motors** %chassis turn ratio %turnRatio=motorTurnRatioPicker speed %speed=motorSpeedPicker|\\%||for %value %unit"
|
||
//% chassis.fieldEditor="ports"
|
||
//% weight=95
|
||
//% turnRatio.min=-200 turnRatio=200
|
||
//% inlineInputMode=inline
|
||
//% group="Move"
|
||
//% expandableArgumentMode=toggle
|
||
//% help=motors/synced/steer
|
||
steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
|
||
this.init();
|
||
speed = Math.clamp(-100, 100, speed >> 0);
|
||
if (!speed) {
|
||
stop(this._port, this._brake);
|
||
return;
|
||
}
|
||
|
||
turnRatio = Math.clamp(-200, 200, turnRatio >> 0);
|
||
let useSteps: boolean;
|
||
let stepsOrTime: number;
|
||
switch (unit) {
|
||
case MoveUnit.Rotations:
|
||
stepsOrTime = (value * 360) >> 0;
|
||
useSteps = true;
|
||
break;
|
||
case MoveUnit.Degrees:
|
||
stepsOrTime = value >> 0;
|
||
useSteps = true;
|
||
break;
|
||
case MoveUnit.Seconds:
|
||
stepsOrTime = (value * 1000) >> 0;
|
||
useSteps = false;
|
||
break;
|
||
default:
|
||
stepsOrTime = value >> 0;
|
||
useSteps = false;
|
||
break;
|
||
}
|
||
|
||
syncMotors(this._port, {
|
||
useSteps: useSteps,
|
||
speed: speed,
|
||
turnRatio: turnRatio,
|
||
stepsOrTime: stepsOrTime,
|
||
useBrake: this._brake
|
||
});
|
||
|
||
this.pauseOnRun(stepsOrTime);
|
||
}
|
||
|
||
/**
|
||
* Returns the name(s) of the motor
|
||
*/
|
||
//%
|
||
toString(): string {
|
||
this.init();
|
||
|
||
let r = outputToName(this._port);
|
||
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
|
||
if (this._port & (1 << i)) {
|
||
r += ` ${getMotorData(1 << i).actualSpeed}%`
|
||
}
|
||
}
|
||
return r;
|
||
}
|
||
}
|
||
|
||
//% whenUsed fixedInstance block="B+C" jres=icons.portBC
|
||
export const largeBC = new SynchedMotorPair(Output.BC);
|
||
|
||
//% whenUsed fixedInstance block="A+D" jres=icons.portAD
|
||
export const largeAD = new SynchedMotorPair(Output.AD);
|
||
|
||
//% whenUsed fixedInstance block="A+B" jres=icons.portAB
|
||
export const largeAB = new SynchedMotorPair(Output.AB);
|
||
|
||
//% whenUsed fixedInstance block="C+D" jres=icons.portCD
|
||
export const largeCD = new SynchedMotorPair(Output.CD);
|
||
|
||
function reset(out: Output) {
|
||
writePWM(mkCmd(out, DAL.opOutputReset, 0))
|
||
writePWM(mkCmd(out, DAL.opOutputClearCount, 0))
|
||
}
|
||
|
||
function outOffset(out: Output) {
|
||
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
|
||
if (out & (1 << i))
|
||
return i * MotorDataOff.Size
|
||
}
|
||
return 0
|
||
}
|
||
|
||
export interface MotorData {
|
||
actualSpeed: number; // -100..+100
|
||
tachoCount: number;
|
||
count: number;
|
||
}
|
||
|
||
// only a single output at a time
|
||
function getMotorData(out: Output): MotorData {
|
||
init()
|
||
const buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
|
||
return {
|
||
actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),
|
||
tachoCount: buf.getNumber(NumberFormat.Int32LE, MotorDataOff.TachoCounts),
|
||
count: buf.getNumber(NumberFormat.Int32LE, MotorDataOff.TachoSensor),
|
||
}
|
||
}
|
||
|
||
export function getAllMotorData(): MotorData[] {
|
||
init();
|
||
return [Output.A, Output.B, Output.C, Output.D].map(out => getMotorData(out));
|
||
}
|
||
|
||
interface SyncOptions {
|
||
useSteps?: boolean;
|
||
speed: number;
|
||
turnRatio: number;
|
||
stepsOrTime?: number;
|
||
useBrake?: boolean;
|
||
}
|
||
|
||
function syncMotors(out: Output, opts: SyncOptions) {
|
||
const cmd = opts.useSteps ? DAL.opOutputStepSync : DAL.opOutputTimeSync;
|
||
const b = mkCmd(out, cmd, 11);
|
||
const speed = Math.clamp(-100, 100, opts.speed);
|
||
const turnRatio = Math.clamp(-200, 200, opts.turnRatio);
|
||
|
||
b.setNumber(NumberFormat.Int8LE, 2, speed)
|
||
// note that b[3] is padding
|
||
b.setNumber(NumberFormat.Int16LE, 4 + 4 * 0, turnRatio)
|
||
// b[6], b[7] is padding
|
||
b.setNumber(NumberFormat.Int32LE, 4 + 4 * 1, opts.stepsOrTime || 0)
|
||
b.setNumber(NumberFormat.Int8LE, 4 + 4 * 2, opts.useBrake ? 1 : 0)
|
||
writePWM(b)
|
||
}
|
||
|
||
interface StepOptions {
|
||
power?: number;
|
||
speed?: number; // either speed or power has to be present
|
||
step1: number;
|
||
step2: number;
|
||
step3: number;
|
||
useSteps?: boolean; // otherwise use milliseconds
|
||
useBrake?: boolean;
|
||
}
|
||
|
||
function start(out: Output) {
|
||
const b = mkCmd(out, DAL.opOutputStart, 0)
|
||
writePWM(b);
|
||
}
|
||
|
||
function stop(out: Output, brake: boolean) {
|
||
const b = mkCmd(out, DAL.opOutputStop, 1)
|
||
b.setNumber(NumberFormat.UInt8LE, 2, brake ? 1 : 0)
|
||
writePWM(b);
|
||
}
|
||
|
||
function step(out: Output, opts: StepOptions) {
|
||
let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed
|
||
let speed = opts.speed
|
||
if (speed == null) {
|
||
speed = opts.power
|
||
op = opts.useSteps ? DAL.opOutputStepPower : DAL.opOutputTimePower
|
||
if (speed == null)
|
||
return
|
||
}
|
||
speed = Math.clamp(-100, 100, speed)
|
||
|
||
let b = mkCmd(out, op, 15)
|
||
b.setNumber(NumberFormat.Int8LE, 2, speed)
|
||
// note that b[3] is padding
|
||
b.setNumber(NumberFormat.Int32LE, 4 + 4 * 0, opts.step1)
|
||
b.setNumber(NumberFormat.Int32LE, 4 + 4 * 1, opts.step2)
|
||
b.setNumber(NumberFormat.Int32LE, 4 + 4 * 2, opts.step3)
|
||
b.setNumber(NumberFormat.Int8LE, 4 + 4 * 3, opts.useBrake ? 1 : 0)
|
||
writePWM(b)
|
||
}
|
||
|
||
const types = [0, 0, 0, 0]
|
||
export function setType(out: Output, type: OutputType) {
|
||
let b = mkCmd(out, DAL.opOutputSetType, 3)
|
||
for (let i = 0; i < 4; ++i) {
|
||
if (out & (1 << i)) {
|
||
types[i] = type
|
||
}
|
||
b.setNumber(NumberFormat.UInt8LE, i + 1, types[i])
|
||
}
|
||
writePWM(b)
|
||
}
|
||
}
|
||
|
||
|
||
interface Buffer {
|
||
[index: number]: number;
|
||
// rest defined in buffer.cpp
|
||
} |