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added zero-block for motor positioning. Added turn-for-rotation-block, but its WIP. Modified generateOutputCommand to allow for advanced motor commands. Changed motor position reporter to follow hardware instead of wrap-clamping.

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This commit is contained in:
Kevin Andersen 2019-01-23 09:10:03 +01:00
parent 7cee07db83
commit ffb5cd63af
2 changed files with 145 additions and 12 deletions
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8
package-lock.json generated
View file

@ -2177,7 +2177,7 @@
},
"bl": {
"version": "1.2.2",
"resolved": "https://registry.npmjs.org/bl/-/bl-1.2.2.tgz",
"resolved": "http://registry.npmjs.org/bl/-/bl-1.2.2.tgz",
"integrity": "sha512-e8tQYnZodmebYDWGH7KMRvtzKXaJHx3BbilrgZCfvyLUYdKpK1t5PSPmpkny/SgiTSCnjfLW7v5rlONXVFkQEA==",
"dev": true,
"requires": {
@ -4950,7 +4950,7 @@
"dependencies": {
"commander": {
"version": "2.1.0",
"resolved": "https://registry.npmjs.org/commander/-/commander-2.1.0.tgz",
"resolved": "http://registry.npmjs.org/commander/-/commander-2.1.0.tgz",
"integrity": "sha1-0SG7roYNmZKj1Re6lvVliOR8Z4E=",
"dev": true
}
@ -7617,7 +7617,7 @@
},
"magic-string": {
"version": "0.22.5",
"resolved": "https://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz",
"resolved": "http://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz",
"integrity": "sha512-oreip9rJZkzvA8Qzk9HFs8fZGF/u7H/gtrE8EN6RjKJ9kh2HlC+yQ2QezifqTZfGyiuAV0dRv5a+y/8gBb1m9w==",
"dev": true,
"requires": {
@ -11645,7 +11645,7 @@
"dependencies": {
"minimist": {
"version": "1.2.0",
"resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
"resolved": "http://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
"integrity": "sha1-o1AIsg9BOD7sH7kU9M1d95omQoQ=",
"dev": true
}

149
src/extensions/scratch3_boost/index.js
View file

@ -200,6 +200,13 @@ class BoostMotor {
*/
this._position = 0;
/**
* This motor's current relative position
* @type {number}
* @private
*/
this._positionZero = 0;
/**
* Is this motor currently moving?
* @type {boolean}
@ -296,6 +303,21 @@ class BoostMotor {
this._position = value;
}
/**
* @return {int} -
*/
get positionZero () {
return this._positionZero;
}
/**
* @param {int} value -
*/
set positionZero (value) {
// Todo: wrap around rotation to avoid extremely large numbers
this._positionZero = value;
}
/**
* @return {boolean} - true if this motor is currently moving, false if this motor is off or braking.
*/
@ -349,6 +371,33 @@ class BoostMotor {
this._setNewTimeout(this.startBraking, milliseconds);
}
/**
* Turn this motor on for a specific rotation in degrees.
* @param {number} degrees - run the motor for this amount of degrees.
*/
turnOnForDegrees (degrees) {
if (this._power === 0) return;
console.log(degrees)
degrees = Math.max(0, degrees);
/* TODO: Position parameter must be given as int32. Convert degrees to int32.
var f = new DataView()
var d = new Int32Array(degrees.data.buffer);
console.table(d)
*/
const cmd = this._parent.generateOutputCommand(
this._index,
0x0B,
null,
[0,0,0x01,degrees,
this._power * this._direction, // power in range 0-100
this._power * this._direction,
0x00,
0x00]
);
this._parent.send(BLECharacteristic, cmd);
}
/**
* Start active braking on this motor. After a short time, the motor will turn off.
* // TODO: rename this to coastAfter?
@ -689,7 +738,7 @@ class Boost {
* @param {array} values - the list of values to write to the command.
* @return {array} - a generated output command.
*/
generateOutputCommand (connectID, subCommandID = 0x51, mode=0x00, values = null) {
generateOutputCommand (connectID, subCommandID = 0x51, mode=null, values = null) {
let command = [0x00, BoostCommand.OUTPUT];
if (values) {
command = command.concat(
@ -701,14 +750,15 @@ class Boost {
if(subCommandID) {
command = command.concat(subCommandID);
}
command = command.concat(mode)
if(mode) {
command = command.concat(mode)
}
command = command.concat(
values
);
}
command.unshift(command.length +1)
console.log(command)
console.log(buf2hex(command))
return command;
}
@ -1007,6 +1057,26 @@ class Scratch3BoostBlocks {
}
}
},
{
opcode: 'motorOnForRotation',
text: formatMessage({
id: 'boost.motorOnForRotation',
default: 'turn [MOTOR_ID] on for [ROTATION] rotations',
description: 'turn a motor on for rotation'
}),
blockType: BlockType.COMMAND,
arguments: {
MOTOR_ID: {
type: ArgumentType.STRING,
menu: 'MOTOR_ID',
defaultValue: BoostMotorLabel.A
},
ROTATION: {
type: ArgumentType.NUMBER,
defaultValue: 1
}
}
},
{
opcode: 'motorOn',
text: formatMessage({
@ -1080,6 +1150,22 @@ class Scratch3BoostBlocks {
}
}
},
{
opcode: 'motorZero',
text: formatMessage({
id: 'boost.motorZero',
default: 'zero [MOTOR_ID]',
description: 'set a motor\'s position to 0'
}),
blockType: BlockType.COMMAND,
arguments: {
MOTOR_ID: {
type: ArgumentType.STRING,
menu: 'MOTOR_ID',
defaultValue: BoostMotorLabel.A
}
}
},
{
opcode: 'setLightHue',
text: formatMessage({
@ -1464,6 +1550,30 @@ class Scratch3BoostBlocks {
});
}
/**
* Turn specified motor(s) on for a specified rotation in full rotations.
* @param {object} args - the block's arguments.
* @property {MotorID} MOTOR_ID - the motor(s) to activate.
* @property {int} ROTATION - the amount of full rotations to turn the motors.
* @return {Promise} - a promise which will resolve at the end of the duration.
*/
motorOnForRotation (args) {
// TODO: cast args.MOTOR_ID?
let degrees = Cast.toNumber(args.ROTATION) * 360;
degrees = MathUtil.clamp(degrees, 0, 36000);
return new Promise(resolve => {
this._forEachMotor(args.MOTOR_ID, motorIndex => {
const motor = this._peripheral.motor(motorIndex);
if (motor) {
motor.turnOnForDegrees(degrees);
}
});
// Run for some time even when no motor is connected
setTimeout(resolve, degrees);
});
}
/**
* Turn specified motor(s) on indefinitely.
* @param {object} args - the block's arguments.
@ -1577,6 +1687,29 @@ class Scratch3BoostBlocks {
});
}
/**
* Set the motor(s) position to 0.
* @param {object} args - the block's arguments.
* @property {MotorID} MOTOR_ID - the motor(s) to activate.
* @return {Promise} - a Promise that resolves after some delay.
*/
motorZero (args) {
// TODO: cast args.MOTOR_ID?
this._forEachMotor(args.MOTOR_ID, motorIndex => {
const motor = this._peripheral.motor(motorIndex);
if (motor) {
// TODO: Do this on the hardware, i.e. https://lego.github.io/lego-ble-wireless-protocol-docs/index.html#encoding-of-writedirectmodedata-0x81-0x51
motor.positionZero = motor.position;
}
});
return new Promise(resolve => {
window.setTimeout(() => {
resolve();
}, BLESendInterval);
});
}
/**
* Set the LED's hue.
* @param {object} args - the block's arguments.
@ -1662,13 +1795,13 @@ class Scratch3BoostBlocks {
switch(args.MOTOR_REPORTER_ID) {
// TODO: Handle negative rotation.
case BoostMotorLabel.A:
return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.A].position, 0, 360);
return this._peripheral._motors[BoostPort.A].position - this._peripheral._motors[BoostPort.A].positionZero
case BoostMotorLabel.B:
return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.B].position, 0, 360);
return this._peripheral._motors[BoostPort.B].position - this._peripheral._motors[BoostPort.B].positionZero
case BoostMotorLabel.C:
return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.C].position, 0, 360);
return this._peripheral._motors[BoostPort.C].position - this._peripheral._motors[BoostPort.C].positionZero
case BoostMotorLabel.D:
return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.D].position, 0, 360);
return this._peripheral._motors[BoostPort.D].position - this._peripheral._motors[BoostPort.D].positionZero
default:
log.warn("Asked for a motor position that doesnt exist!")
return false;