mirror of
https://github.com/scratchfoundation/scratch-vm.git
synced 2024-12-24 06:52:40 -05:00
Reworked motor-system to allow the setMotorPower- and setMotorDirection-blocks to modify the motor behavior if the motor is already running.
- BoostMotor-class now has pendingPositionDestination, the rotation-equivalent of pendingTimeout, that stores a destination the motor should reach. When using setMotorPower() or setMotorDirection() while a motorOnForRotation()-block is running, a new motorOnForRotation()-command will be run for the remaining amount of degrees but with new power/direction, cancelling the old command. - BoostMotor._status is only affected by feedback from the hub. - setMotorPower() and setMotorDirection() no longer yields, since they just set state. From design meeting regarding block design: - Renamed all motors-label to ABCD. - Added 'AB' motor label to address built-in motor pair. - use the word direction in the setMotorDirection-block - moved argument label in motor position reporter - changed wording of color-sensing block. - removed isTilted-boolean reporter - removed changeLightHueBy-block - fixed pingDevice-function bug.
This commit is contained in:
Kevin Andersen
parent
55ccc4e77a
commit
5f6c8b1efd
1 changed files with 94 additions and 83 deletions
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@ -313,18 +313,32 @@ class BoostMotor {
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/**
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* The starting time for the pending timeout.
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* @type {Object}
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* @type {number}
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* @private
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*/
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this._pendingTimeoutStartTime = null;
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/**
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* The delay/duration of the pending timeout.
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* @type {Object}
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* @type {number}
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* @private
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*/
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this._pendingTimeoutDelay = null;
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/**
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* The origin position of a turn-based command.
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* @type {number}
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* @private
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*/
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this._pendingPositionOrigin = null;
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/**
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* The target position of a turn-based command.
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* @type {number}
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* @private
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*/
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this._pendingPositionDestination = null;
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/**
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* If the motor has been turned on run for a specific duration,
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* this is the function that will be called once Scratch VM gets a notification from the Move Hub.
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@ -392,23 +406,34 @@ class BoostMotor {
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* @return {boolean} - true if this motor is currently moving, false if this motor is off or braking.
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*/
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get isOn () {
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return this._status;
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if (this._status & (BoostOutputCommandFeedback.BUSY_OR_FULL ^
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BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS)) {
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return true;
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}
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return false;
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}
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/**
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* @return {boolean} - time, in milliseconds, of when the pending timeout began.
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* @return {number} - time, in milliseconds, of when the pending timeout began.
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*/
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get pendingTimeoutStartTime () {
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return this._pendingTimeoutStartTime;
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}
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/**
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* @return {boolean} - delay, in milliseconds, of the pending timeout.
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* @return {number} - delay, in milliseconds, of the pending timeout.
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*/
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get pendingTimeoutDelay () {
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return this._pendingTimeoutDelay;
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}
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/**
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* @return {number} - delay, in milliseconds, of the pending timeout.
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*/
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get pendingPositionDestination () {
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return this._pendingPositionDestination;
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}
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/**
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* @return {boolean} - true if this motor is currently moving, false if this motor is off or braking.
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*/
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@ -416,6 +441,13 @@ class BoostMotor {
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return this._pendingPromiseFunction;
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}
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/**
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* @param {function} func - function to resolve promise
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*/
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set pendingPromiseFunction (func) {
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this._pendingPromiseFunction = func;
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}
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/**
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* Turn this motor on indefinitely.
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*/
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@ -433,7 +465,6 @@ class BoostMotor {
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this._parent.send(BoostBLE.characteristic, cmd);
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this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS;
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this._clearTimeout();
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}
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@ -464,14 +495,15 @@ class BoostMotor {
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BoostOutputSubCommand.START_SPEED_FOR_DEGREES,
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[
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...numberToInt32Array(degrees),
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this._power * this._direction * direction, // power in range 0-100
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BoostMotorMaxPower, // max speed
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this._power * this._direction * direction,
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BoostMotorMaxPower,
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BoostMotorEndState.BRAKE,
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BoostMotorProfile.DO_NOT_USE
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] // byte for using acceleration/braking profile
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]
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);
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this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS;
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this._pendingPositionOrigin = this._position;
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this._pendingPositionDestination = this._position + (degrees * this._direction * direction);
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this._parent.send(BoostBLE.characteristic, cmd);
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}
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@ -494,8 +526,6 @@ class BoostMotor {
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);
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this._parent.send(BoostBLE.characteristic, cmd, useLimiter);
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this._status = BoostOutputCommandFeedback.IDLE;
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}
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/**
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@ -751,7 +781,7 @@ class Boost {
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this._ble.disconnect();
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}
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if (this._pingDevice) {
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if (this._pingDeviceId) {
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window.clearInterval(this._pingDeviceId);
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this._pingDeviceId = null;
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}
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@ -911,7 +941,7 @@ class Boost {
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break;
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case BoostIO.MOTOREXT:
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case BoostIO.MOTORINT:
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this._motors[portID]._position = int32ArrayToNumber(data.slice(4, 8));
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this.motor(portID).position = int32ArrayToNumber(data.slice(4, 8));
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break;
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case BoostIO.CURRENT:
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case BoostIO.VOLTAGE:
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@ -924,17 +954,20 @@ class Boost {
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case BoostMessage.PORT_OUTPUT_COMMAND_FEEDBACK: {
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// TODO: Handle messages that contain feedback from more than one port.
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const feedback = data[4];
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if (this.motor(portID)) {
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this.motor(portID)._status = feedback;
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}
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switch (feedback) {
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case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE:
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case BoostOutputCommandFeedback.CURRENT_COMMAND_DISCARDED ^ BoostOutputCommandFeedback.IDLE:
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if (this._motors[portID] && this._motors[portID].pendingPromiseFunction) {
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this._motors[portID].pendingPromiseFunction();
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case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE: {
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const motor = this.motor(portID);
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if (motor && motor.pendingPromiseFunction) {
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motor.pendingPromiseFunction();
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}
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break;
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}
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case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS:
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break;
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default:
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log.warn(`Did not find a motor on portID: ${portID}`);
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log.warn(`Feedback from ${portID}: ${feedback}`);
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}
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break;
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}
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@ -1039,7 +1072,8 @@ const BoostMotorLabel = {
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B: 'B',
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C: 'C',
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D: 'D',
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ALL: 'all motors'
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AB: 'AB',
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ALL: 'ABCD'
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};
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/**
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@ -1221,7 +1255,7 @@ class Scratch3BoostBlocks {
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opcode: 'setMotorDirection',
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text: formatMessage({
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id: 'boost.setMotorDirection',
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default: 'set motor [MOTOR_ID] to turn [MOTOR_DIRECTION]',
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default: 'set motor [MOTOR_ID] direction [MOTOR_DIRECTION]',
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description: 'set the motor\'s turn direction without turning it on'
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}),
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blockType: BlockType.COMMAND,
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@ -1242,7 +1276,7 @@ class Scratch3BoostBlocks {
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opcode: 'getMotorPosition',
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text: formatMessage({
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id: 'boost.getMotorPosition',
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default: 'motor position [MOTOR_REPORTER_ID]',
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default: 'motor [MOTOR_REPORTER_ID] position',
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description: 'the position returned by the motor'
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}),
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blockType: BlockType.REPORTER,
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@ -1258,7 +1292,7 @@ class Scratch3BoostBlocks {
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opcode: 'whenColor',
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text: formatMessage({
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id: 'boost.whenColor',
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default: 'when color [COLOR]',
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default: 'when [COLOR] color seen',
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description: 'check for when color'
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}),
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blockType: BlockType.HAT,
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@ -1296,22 +1330,6 @@ class Scratch3BoostBlocks {
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}
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}
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},
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{
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opcode: 'isTilted',
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text: formatMessage({
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id: 'boost.isTilted',
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default: 'tilted [TILT_DIRECTION_ANY]?',
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description: 'whether the tilt sensor is tilted'
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}),
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blockType: BlockType.BOOLEAN,
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arguments: {
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TILT_DIRECTION_ANY: {
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type: ArgumentType.STRING,
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menu: 'TILT_DIRECTION_ANY',
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defaultValue: BoostTiltDirection.ANY
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}
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}
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},
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{
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opcode: 'getTiltAngle',
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text: formatMessage({
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@ -1342,21 +1360,6 @@ class Scratch3BoostBlocks {
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defaultValue: 50
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}
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}
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},
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{
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opcode: 'changeLightHueBy',
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text: formatMessage({
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id: 'boost.changeLightHueBy',
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default: 'change light color by [HUE]',
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description: 'change the LED color by a given amount'
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}),
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blockType: BlockType.COMMAND,
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arguments: {
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HUE: {
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type: ArgumentType.NUMBER,
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defaultValue: 5
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}
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}
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}
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],
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menus: {
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@ -1364,39 +1367,47 @@ class Scratch3BoostBlocks {
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{
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text: formatMessage({
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id: 'boost.motorId.a',
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default: 'A',
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description: 'label for motor A element in motor menu for LEGO Boost extension'
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default: BoostMotorLabel.A,
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description: `label for motor A element in motor menu for LEGO Boost extension`
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}),
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value: BoostMotorLabel.A
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},
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{
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text: formatMessage({
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id: 'boost.motorId.b',
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default: 'B',
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description: 'label for motor B element in motor menu for LEGO Boost extension'
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default: BoostMotorLabel.B,
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description: `label for motor B element in motor menu for LEGO Boost extension`
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}),
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value: BoostMotorLabel.B
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},
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{
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text: formatMessage({
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id: 'boost.motorId.c',
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default: 'C',
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description: 'label for motor C element in motor menu for LEGO Boost extension'
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default: BoostMotorLabel.C,
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description: `label for motor C element in motor menu for LEGO Boost extension`
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}),
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value: BoostMotorLabel.C
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},
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{
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text: formatMessage({
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id: 'boost.motorId.d',
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default: 'D',
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description: 'label for motor D element in motor menu for LEGO Boost extension'
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default: BoostMotorLabel.D,
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description: `label for motor D element in motor menu for LEGO Boost extension`
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}),
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value: BoostMotorLabel.D
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},
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{
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text: formatMessage({
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id: 'boost.motorId.ab',
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default: BoostMotorLabel.AB,
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description: `label for motor A and B element in motor menu for LEGO Boost extension`
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}),
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value: BoostMotorLabel.AB
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},
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{
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text: formatMessage({
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id: 'boost.motorId.all',
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default: 'all motors',
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default: BoostMotorLabel.ALL,
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description: 'label for all motors element in motor menu for LEGO Boost extension'
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}),
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value: BoostMotorLabel.ALL
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@ -1406,7 +1417,7 @@ class Scratch3BoostBlocks {
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{
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text: formatMessage({
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id: 'boost.motorReporterId.a',
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default: 'A',
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default: BoostMotorLabel.A,
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description: 'label for motor A element in motor menu for LEGO Boost extension'
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}),
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value: BoostMotorLabel.A
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@ -1414,7 +1425,7 @@ class Scratch3BoostBlocks {
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{
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text: formatMessage({
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id: 'boost.motorReporterId.b',
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default: 'B',
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default: BoostMotorLabel.B,
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description: 'label for motor B element in motor menu for LEGO Boost extension'
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}),
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value: BoostMotorLabel.B
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@ -1422,7 +1433,7 @@ class Scratch3BoostBlocks {
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{
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text: formatMessage({
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id: 'boost.motorReporterId.c',
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default: 'C',
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default: BoostMotorLabel.C,
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description: 'label for motor C element in motor menu for LEGO Boost extension'
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}),
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value: BoostMotorLabel.C
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@ -1430,7 +1441,7 @@ class Scratch3BoostBlocks {
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{
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text: formatMessage({
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id: 'boost.motorReporterId.d',
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default: 'D',
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default: BoostMotorLabel.D,
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description: 'label for motor D element in motor menu for LEGO Boost extension'
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}),
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value: BoostMotorLabel.D
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@ -1639,7 +1650,7 @@ class Scratch3BoostBlocks {
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const motor = this._peripheral.motor(motorIndex);
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if (motor) {
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motor.turnOnForDegrees(degrees, sign);
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motor._pendingPromiseFunction = resolve;
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motor.pendingPromiseFunction = resolve;
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}
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});
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});
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@ -1694,7 +1705,6 @@ class Scratch3BoostBlocks {
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* @param {object} args - the block's arguments.
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* @property {MotorID} MOTOR_ID - the motor(s) to be affected.
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* @property {int} POWER - the new power level for the motor(s).
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* @return {Promise} - a Promise that resolves after some delay.
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*/
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setMotorPower (args) {
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// TODO: cast args.MOTOR_ID?
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@ -1702,13 +1712,15 @@ class Scratch3BoostBlocks {
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const motor = this._peripheral.motor(motorIndex);
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if (motor) {
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motor.power = MathUtil.clamp(Cast.toNumber(args.POWER), 0, 100);
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if (motor.isOn) {
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if (motor.pendingTimeoutDelay) {
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motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now());
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} else if (motor.pendingPositionDestination) {
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const p = motor.pendingPositionDestination - motor.position;
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motor.turnOnForDegrees(p, Math.sign(p) * motor.direction);
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}
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}
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}
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});
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return new Promise(resolve => {
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window.setTimeout(() => {
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resolve();
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}, BoostBLE.sendInterval);
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});
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}
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@ -1718,7 +1730,6 @@ class Scratch3BoostBlocks {
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* @param {object} args - the block's arguments.
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* @property {MotorID} MOTOR_ID - the motor(s) to be affected.
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* @property {MotorDirection} MOTOR_DIRECTION - the new direction for the motor(s).
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* @return {Promise} - a Promise that resolves after some delay.
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*/
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setMotorDirection (args) {
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// TODO: cast args.MOTOR_ID?
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@ -1743,16 +1754,13 @@ class Scratch3BoostBlocks {
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if (motor.isOn) {
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if (motor.pendingTimeoutDelay) {
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motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now());
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} else if (motor.pendingPositionDestination) {
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const p = motor.pendingPositionDestination - motor.position;
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motor.turnOnForDegrees(p, Math.sign(p) * motor.direction);
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}
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}
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}
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});
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return new Promise(resolve => {
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window.setTimeout(() => {
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resolve();
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}, BoostBLE.sendInterval);
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});
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}
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/**
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@ -1953,6 +1961,9 @@ class Scratch3BoostBlocks {
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case BoostMotorLabel.D:
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motors = [BoostPort.D];
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break;
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case BoostMotorLabel.AB:
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motors = [BoostPort.A, BoostPort.B];
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break;
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case BoostMotorLabel.ALL:
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motors = [BoostPort.A, BoostPort.B, BoostPort.C, BoostPort.D];
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break;
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