718 lines
22 KiB
TypeScript
718 lines
22 KiB
TypeScript
enum Output {
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//% block="A"
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A = 0x01,
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//% block="B"
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B = 0x02,
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//% block="C"
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C = 0x04,
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//% block="D"
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D = 0x08,
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//% block="B+C"
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BC = Output.B | Output.C,
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//% block="A+B"
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AB = Output.A | Output.B,
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//% block="C+D"
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CD = Output.C | Output.D,
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//% block="A+D"
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AD = Output.A | Output.D,
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//% block="All"
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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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enum MoveUnit {
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//% block="rotations"
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Rotations,
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//% block="degrees"
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Degrees,
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//% block="seconds"
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Seconds,
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//% block="milliseconds"
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MilliSeconds
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}
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namespace motors {
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let pwmMM: MMap
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let motorMM: MMap
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const enum MotorDataOff {
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TachoCounts = 0, // int32
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Speed = 4, // int8
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Padding = 5, // int8[3]
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TachoSensor = 8, // int32
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Size = 12
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}
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function init() {
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if (pwmMM) return
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pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
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if (!pwmMM) control.fail("no PWM file")
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motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
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if (!motorMM) control.fail("no motor file")
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resetAllMotors()
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const buf = output.createBuffer(1)
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buf[0] = DAL.opProgramStart
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writePWM(buf)
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}
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/**
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* Sends a command to the motors device
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* @param buf the command buffer
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*/
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//%
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export function writePWM(buf: Buffer): void {
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init()
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pwmMM.write(buf)
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}
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/**
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* Sends and receives a message from the motors device
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* @param buf message buffer
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*/
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//%
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export function readPWM(buf: Buffer): void {
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init()
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pwmMM.read(buf);
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}
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/**
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* Allocates a message buffer
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* @param out ports
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* @param cmd command id
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* @param addSize required additional bytes
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*/
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//%
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export function mkCmd(out: Output, cmd: number, addSize: number) {
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const b = output.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 outputToName(out: Output): string {
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let r = "";
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for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
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if (out & (1 << i)) {
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if (r.length > 0) r += "+";
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r += "ABCD"[i];
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}
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}
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return r;
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}
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/**
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* Stops all motors
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*/
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//% blockId=motorStopAll block="stop all motors"
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//% weight=1
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//% group="Move"
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//% help=motors/stop-all
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export function stopAll() {
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const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
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writePWM(b)
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}
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/**
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* Resets all motors
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*/
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//% group="Move"
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export function resetAllMotors() {
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reset(Output.ALL)
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}
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//% fixedInstances
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export class MotorBase extends control.Component {
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protected _port: Output;
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protected _portName: string;
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protected _brake: boolean;
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private _initialized: boolean;
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private _init: () => void;
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private _run: (speed: number) => void;
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private _move: (steps: boolean, stepsOrTime: number, speed: number) => void;
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constructor(port: Output, init: () => void, run: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
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super();
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this._port = port;
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this._portName = outputToName(this._port);
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this._brake = false;
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this._initialized = false;
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this._init = init;
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this._run = run;
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this._move = move;
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}
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/**
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* Lazy initialization code
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*/
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protected init() {
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if (!this._initialized) {
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this._initialized = true;
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this._init();
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}
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}
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/**
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* Sets the automatic brake on or off when the motor is off
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* @param brake a value indicating if the motor should break when off
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*/
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//% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake=toggleOnOff"
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//% weight=60 blockGap=8
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//% group="Move"
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//% help=motors/motor/set-brake
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setBrake(brake: boolean) {
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this.init();
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this._brake = brake;
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}
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/**
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* Inverts the motor polarity
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*/
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//% blockId=motorSetInverted block="set %motor|inverted %reversed=toggleOnOff"
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//% weight=59 blockGap=8
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//% group="Move"
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//% help=motors/motor/set-inverted
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setInverted(inverted: boolean) {
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this.init();
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const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
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b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
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writePWM(b)
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}
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/**
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* Stops the motor(s).
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*/
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//% weight=6 blockGap=8
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//% group="Move"
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//% help=motors/motor/stop
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//% blockId=motorStop block="stop %motors|"
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stop() {
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this.init();
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stop(this._port, this._brake);
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this.settle();
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}
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private settle() {
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// if we've recently completed a motor command with brake
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// allow 500ms for robot to settle
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if(this._brake)
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pause(500);
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}
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/**
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* Resets the motor(s).
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*/
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//% weight=5
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//% group="Move"
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//% help=motors/motor/reset
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//% blockId=motorReset block="reset %motors|"
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reset() {
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this.init();
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reset(this._port);
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}
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/**
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* Runs the motor at a given speed for limited time or distance.
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* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
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* @param value (optional) measured distance or rotation
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* @param unit (optional) unit of the value
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*/
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//% blockId=motorRun block="run %motor at %speed=motorSpeedPicker|\\%||for %value %unit"
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//% weight=100 blockGap=8
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//% group="Move"
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//% expandableArgumentMode=toggle
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//% help=motors/motor/run
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run(speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
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this.init();
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speed = Math.clamp(-100, 100, speed >> 0);
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// stop if speed is 0
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if (!speed) {
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this.stop();
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return;
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}
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// special: 0 is infinity
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if (value == 0) {
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this._run(speed);
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return;
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}
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// timed motor moves
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let useSteps: boolean;
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let stepsOrTime: number;
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switch (unit) {
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case MoveUnit.Rotations:
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stepsOrTime = (value * 360) >> 0;
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useSteps = true;
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break;
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case MoveUnit.Degrees:
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stepsOrTime = value >> 0;
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useSteps = true;
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break;
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case MoveUnit.Seconds:
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stepsOrTime = (value * 1000) >> 0;
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useSteps = false;
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break;
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default:
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stepsOrTime = value;
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useSteps = false;
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break;
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}
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this._move(useSteps, stepsOrTime, speed);
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// wait till motor is done with this work
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this.pauseUntilReady();
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// allow robot to settle
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this.settle();
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}
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/**
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* Returns a value indicating if the motor is still running a previous command.
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*/
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//% group="Sensors"
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isReady(): boolean {
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this.init();
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const buf = mkCmd(this._port, DAL.opOutputTest, 2);
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readPWM(buf)
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const flags = buf.getNumber(NumberFormat.UInt8LE, 2);
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return (~flags & this._port) == this._port;
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}
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/**
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* Pauses the execution until the previous command finished.
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* @param timeOut optional maximum pausing time in milliseconds
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*/
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//% blockId=motorPauseUntilRead block="pause until %motor|ready"
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//% weight=90
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//% group="Move"
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pauseUntilReady(timeOut?: number) {
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pauseUntil(() => this.isReady(), timeOut);
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}
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}
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//% fixedInstances
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export class Motor extends MotorBase {
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private _large: boolean;
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private _regulated: boolean;
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constructor(port: Output, large: boolean) {
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super(port, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
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this._large = large;
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this._regulated = true;
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this.markUsed();
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}
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markUsed() {
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motors.__motorUsed(this._port, this._large);
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}
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private __init() {
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// specify motor size on this port
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const b = mkCmd(outOffset(this._port), DAL.opOutputSetType, 1)
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b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
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writePWM(b)
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}
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private __setSpeed(speed: number) {
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const b = mkCmd(this._port, this._regulated ? DAL.opOutputSpeed : DAL.opOutputPower, 1)
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b.setNumber(NumberFormat.Int8LE, 2, speed)
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writePWM(b)
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if (speed) {
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writePWM(mkCmd(this._port, DAL.opOutputStart, 0))
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}
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}
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private __move(steps: boolean, stepsOrTime: number, speed: number) {
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step(this._port, {
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useSteps: steps,
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step1: 0,
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step2: stepsOrTime,
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step3: 0,
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speed: this._regulated ? speed : undefined,
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power: this._regulated ? undefined : speed,
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useBrake: this._brake
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})
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}
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/**
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* Indicates if the motor speed should be regulated. Default is true.
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* @param value true for regulated motor
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*/
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//% blockId=outputMotorSetRegulated block="set %motor|regulated %value=toggleOnOff"
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//% weight=58
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//% group="Move"
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//% help=motors/motor/set-regulated
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setRegulated(value: boolean) {
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this._regulated = value;
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}
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/**
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* Gets motor actual speed.
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* @param motor the port which connects to the motor
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*/
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//% blockId=motorSpeed block="%motor|speed"
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//% weight=72
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//% blockGap=8
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//% group="Counters"
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//% help=motors/motor/speed
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speed(): number {
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this.init();
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return getMotorData(this._port).actualSpeed;
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}
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/**
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* Gets motor angle.
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* @param motor the port which connects to the motor
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*/
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//% blockId=motorAngle block="%motor|angle"
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//% weight=70
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//% blockGap=8
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//% group="Counters"
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//% help=motors/motor/angle
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angle(): number {
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this.init();
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return getMotorData(this._port).count;
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}
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/**
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* Gets motor tachometer count.
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* @param motor the port which connects to the motor
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*/
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//% blockId=motorTachoCount block="%motor|tacho"
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//% weight=69
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//% blockGap=8
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//% group="Counters"
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//% help=motors/motor/tacho
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tacho(): number {
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this.init();
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return getMotorData(this._port).tachoCount;
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}
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/**
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* Clears the motor count
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*/
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//% blockId=motorClearCount block="clear %motor|counters"
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//% weight=68
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//% blockGap=8
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//% group="Counters"
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//% help=motors/motor/clear-counts
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clearCounts() {
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this.init();
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const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
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writePWM(b)
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for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
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if (this._port & (1 << i)) {
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motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
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}
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}
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}
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/**
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* Returns the status of the motor
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*/
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//%
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toString(): string {
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return `${this._large ? "" : "M"}${this._portName} ${this.speed()}% ${this.angle()}>`;
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}
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}
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//% whenUsed fixedInstance block="large A"
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export const largeA = new Motor(Output.A, true);
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//% whenUsed fixedInstance block="large B"
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export const largeB = new Motor(Output.B, true);
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//% whenUsed fixedInstance block="large C"
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export const largeC = new Motor(Output.C, true);
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//% whenUsed fixedInstance block="large D"
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export const largeD = new Motor(Output.D, true);
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//% whenUsed fixedInstance block="medium A"
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export const mediumA = new Motor(Output.A, false);
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//% whenUsed fixedInstance block="medium B"
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export const mediumB = new Motor(Output.B, false);
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//% whenUsed fixedInstance block="medium C"
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export const mediumC = new Motor(Output.C, false);
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//% whenUsed fixedInstance block="medium D"
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export const mediumD = new Motor(Output.D, false);
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//% fixedInstances
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export class SynchedMotorPair extends MotorBase {
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constructor(ports: Output) {
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super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
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this.markUsed();
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}
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markUsed() {
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motors.__motorUsed(this._port, true);
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}
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private __init() {
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for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
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if (this._port & (1 << i)) {
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const b = mkCmd(outOffset(1 << i), DAL.opOutputSetType, 1)
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b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor
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writePWM(b)
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}
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}
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}
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private __setSpeed(speed: number) {
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syncMotors(this._port, {
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speed: speed,
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turnRatio: 0, // same speed
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useBrake: !!this._brake
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})
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}
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private __move(steps: boolean, stepsOrTime: number, speed: number) {
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syncMotors(this._port, {
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useSteps: steps,
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speed: speed,
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turnRatio: 0, // same speed
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stepsOrTime: stepsOrTime,
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useBrake: this._brake
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});
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}
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/**
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* The Move Tank block can make a robot drive forward, backward, turn, or stop.
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* Use the Move Tank block for robot vehicles that have two Large Motors,
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* with one motor driving the left side of the vehicle and the other the right side.
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* You can make the two motors go at different speeds or in different directions
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* to make your robot turn.
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* @param speedLeft the speed on the left motor, eg: 50
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* @param speedRight the speed on the right motor, eg: 50
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* @param value (optional) move duration or rotation
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* @param unit (optional) unit of the value
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*/
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//% blockId=motorPairTank block="tank %motors %speedLeft=motorSpeedPicker|\\% %speedRight=motorSpeedPicker|\\%||for %value %unit"
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//% weight=96 blockGap=8
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//% inlineInputMode=inline
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//% group="Move"
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//% expandableArgumentMode=toggle
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//% help=motors/synced/tank
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tank(speedLeft: number, speedRight: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
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this.init();
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speedLeft = Math.clamp(-100, 100, speedLeft >> 0);
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speedRight = Math.clamp(-100, 100, speedRight >> 0);
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const speed = Math.abs(speedLeft) > Math.abs(speedRight) ? speedLeft : speedRight;
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const turnRatio = speedLeft == speed
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? (100 - speedRight / speedLeft * 100)
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: (speedLeft / speedRight * 100 - 100);
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this.steer(turnRatio, speed, value, unit);
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}
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/**
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* Turns the motor and the follower motor by a number of rotations
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* @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0
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* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
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* @param value (optional) move duration or rotation
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* @param unit (optional) unit of the value
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*/
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//% blockId=motorPairSteer block="steer %chassis turn ratio %turnRatio=motorTurnRatioPicker speed %speed=motorSpeedPicker|\\%||for %value %unit"
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//% weight=95
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//% turnRatio.min=-200 turnRatio=200
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//% inlineInputMode=inline
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//% group="Move"
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//% expandableArgumentMode=toggle
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//% help=motors/synced/steer
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steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
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this.init();
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speed = Math.clamp(-100, 100, speed >> 0);
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if (!speed) {
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stop(this._port, this._brake);
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return;
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}
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turnRatio = Math.clamp(-200, 200, turnRatio >> 0);
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let useSteps: boolean;
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let stepsOrTime: number;
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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
|
|
});
|
|
}
|
|
|
|
/**
|
|
* 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="large B+C"
|
|
export const largeBC = new SynchedMotorPair(Output.BC);
|
|
|
|
//% whenUsed fixedInstance block="large A+D"
|
|
export const largeAD = new SynchedMotorPair(Output.AD);
|
|
|
|
//% whenUsed fixedInstance block="large A+B"
|
|
export const largeAB = new SynchedMotorPair(Output.AB);
|
|
|
|
//% whenUsed fixedInstance block="large C+D"
|
|
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
|
|
} |