251 lines
7.4 KiB
TypeScript
251 lines
7.4 KiB
TypeScript
enum Output {
|
|
//% block="A"
|
|
A = 0x01,
|
|
//% block="B"
|
|
B = 0x02,
|
|
//% block="C"
|
|
C = 0x04,
|
|
//% block="D"
|
|
D = 0x08,
|
|
//% block="All"
|
|
ALL = 0x0f
|
|
}
|
|
|
|
enum OutputType {
|
|
None = 0,
|
|
Tacho = 7,
|
|
MiniTacho = 8,
|
|
}
|
|
|
|
namespace output {
|
|
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)
|
|
|
|
resetMotors()
|
|
|
|
let buf = output.createBuffer(1)
|
|
buf[0] = DAL.opProgramStart
|
|
writePWM(buf)
|
|
}
|
|
|
|
function writePWM(buf: Buffer): void {
|
|
init()
|
|
pwmMM.write(buf)
|
|
}
|
|
|
|
function readPWM(buf: Buffer): void {
|
|
init()
|
|
pwmMM.read(buf);
|
|
}
|
|
|
|
function mkCmd(out: Output, cmd: number, addSize: number) {
|
|
const b = createBuffer(2 + addSize)
|
|
b.setNumber(NumberFormat.UInt8LE, 0, cmd)
|
|
b.setNumber(NumberFormat.UInt8LE, 1, out)
|
|
return b
|
|
}
|
|
|
|
function resetMotors() {
|
|
reset(Output.ALL)
|
|
}
|
|
|
|
//% fixedInstances
|
|
export class Motor extends control.Component {
|
|
private port: Output;
|
|
private large: boolean;
|
|
private brake: boolean;
|
|
|
|
constructor(port: Output, large: boolean) {
|
|
super();
|
|
this.port = port;
|
|
this.large = large;
|
|
this.brake = false;
|
|
}
|
|
|
|
/**
|
|
* Power on or off the motor.
|
|
* @param motor the motor to turn on
|
|
* @param power the motor power level from ``-100`` to ``100``, eg: 50
|
|
*/
|
|
//% blockId=outputMotorOn block="%motor|%onOrOff"
|
|
//% weight=99 group="Motors" blockGap=8
|
|
//% onOrOff.fieldEditor=toggleonoff
|
|
on(onOrOff: boolean = true) {
|
|
if (onOrOff) {
|
|
const b = mkCmd(this.port, DAL.opOutputStart, 0)
|
|
writePWM(b);
|
|
} else {
|
|
const b = mkCmd(this.port, DAL.opOutputStop, 1)
|
|
b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
|
|
writePWM(b)
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Sets the motor power level from ``-100`` to ``100``.
|
|
* @param motor the output connection that the motor is connected to
|
|
* @param power the desired speed to use. eg: 50
|
|
*/
|
|
//% blockId=motorSetPower block="%motor|set power to %speed"
|
|
//% weight=60 group="Motors" blockGap=8
|
|
//% speed.min=-100 speed.max=100
|
|
setPower(power: number) {
|
|
const b = mkCmd(this.port, DAL.opOutputPower, 1)
|
|
b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, power))
|
|
writePWM(b)
|
|
}
|
|
|
|
/**
|
|
* 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="%motor|set brake %brake"
|
|
//% brake.fieldEditor=toggleonoff
|
|
//% weight=60 group="Motors"
|
|
setBrake(brake: boolean) {
|
|
this.brake = brake;
|
|
}
|
|
|
|
/**
|
|
* Gets motor actual speed.
|
|
* @param motor the port which connects to the motor
|
|
*/
|
|
//% blockId=motorSpeed block="%motor|speed"
|
|
//% weight=50 group="Motors" blockGap=8
|
|
speed() {
|
|
return getMotorData(this.port).actualSpeed;
|
|
}
|
|
}
|
|
|
|
//% whenUsed fixedInstance block="large motor A"
|
|
export const largeMotorA = new Motor(Output.A, true);
|
|
|
|
//% whenUsed fixedInstance block="large motor B"
|
|
export const largeMotorB = new Motor(Output.B, true);
|
|
|
|
//% whenUsed fixedInstance block="large motor C"
|
|
export const largeMotorC = new Motor(Output.C, true);
|
|
|
|
//% whenUsed fixedInstance block="large motor D"
|
|
export const largeMotorD = new Motor(Output.D, true);
|
|
|
|
//% whenUsed fixedInstance block="medium motor A"
|
|
export const mediumMotorA = new Motor(Output.A, false);
|
|
|
|
//% whenUsed fixedInstance block="medium motor B"
|
|
export const mediumMotorB = new Motor(Output.B, false);
|
|
|
|
//% whenUsed fixedInstance block="medium motor C"
|
|
export const mediumMotorC = new Motor(Output.C, false);
|
|
|
|
//% whenUsed fixedInstance block="medium motor D"
|
|
export const mediumMotorD = new Motor(Output.D, false);
|
|
|
|
function reset(out: Output) {
|
|
let b = mkCmd(out, DAL.opOutputReset, 0)
|
|
writePWM(b)
|
|
}
|
|
|
|
function clearCount(out: Output) {
|
|
let b = mkCmd(out, DAL.opOutputClearCount, 0)
|
|
writePWM(b)
|
|
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
|
|
if (out & (1 << i)) {
|
|
motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
|
|
}
|
|
}
|
|
}
|
|
|
|
function outOffset(out: Output) {
|
|
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
|
|
if (out & (1 << i))
|
|
return i * MotorDataOff.Size
|
|
}
|
|
return 0
|
|
}
|
|
|
|
interface MotorData {
|
|
actualSpeed: number; // -100..+100
|
|
tachoCount: number;
|
|
count: number;
|
|
}
|
|
|
|
// only a single output at a time
|
|
function getMotorData(out: Output): MotorData {
|
|
let 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),
|
|
}
|
|
}
|
|
|
|
function setPolarity(out: Output, polarity: number) {
|
|
let b = mkCmd(out, DAL.opOutputPolarity, 1)
|
|
b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-1, 1, polarity))
|
|
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 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
|
|
} |