88 lines
2.0 KiB
TypeScript
88 lines
2.0 KiB
TypeScript
namespace pxsim {
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export abstract class MotorNode extends BaseNode {
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isOutput = true;
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protected angle: number = 0;
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private rotationsPerMilliSecond: number;
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private speed: number;
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private large: boolean;
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private rotation: number;
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private polarity: boolean;
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constructor(port: number, rpm: number) {
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super(port);
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this.rotationsPerMilliSecond = rpm / 60000;
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}
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setSpeed(speed: number) {
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if (this.speed != speed) {
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this.speed = speed;
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this.changed = true;
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this.setChangedState();
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}
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}
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setLarge(large: boolean) {
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this.large = large;
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}
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getSpeed() {
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return this.speed;
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}
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stepSpeed(speed: number, angle: number, brake: boolean) {
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// TODO: implement
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}
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setPolarity(polarity: number) {
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// Either 1 or 255 (reverse)
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this.polarity = polarity === 255;
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// TODO: implement
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}
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reset() {
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// TODO: implement
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}
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stop() {
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// TODO: implement
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this.setSpeed(0);
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}
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start() {
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// TODO: implement
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this.setChangedState();
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}
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public getAngle() {
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return this.angle;
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}
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updateState(elapsed: number) {
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const rotations = this.getSpeed() / 100 * this.rotationsPerMilliSecond * elapsed;
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const angle = rotations * 360;
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if (angle) {
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this.angle += angle;
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this.setChangedState();
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}
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}
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}
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export class MediumMotorNode extends MotorNode {
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id = NodeType.MediumMotor;
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constructor(port: number) {
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super(port, 250);
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}
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}
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export class LargeMotorNode extends MotorNode {
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id = NodeType.LargeMotor;
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constructor(port: number) {
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super(port, 170);
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}
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}
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} |