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