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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,99 +1,89 @@ | ||
| enum Motor { | ||
| //% weight=13 color=#ffd43a icon="" block="Motor" | ||
| namespace cakLandMotor { | ||
| enum Motor { | ||
| //% block="left" | ||
| LEFT = 0, | ||
| //% block="right" | ||
| RIGHT = 1 | ||
| } | ||
|
|
||
| enum MotorPower { | ||
| //% block="on" | ||
| ON = 1, | ||
| //% block="off" | ||
| OFF = 0 | ||
| } | ||
| } | ||
|
|
||
| //% weight=13 color=#ffd43a icon="" block="Motor" | ||
| namespace cakLandMotor { | ||
| const PWM_PERIOD = 1000; //totally arbitrary, testing showed no effect | ||
| let motorState: MotorPower = MotorPower.ON | ||
|
|
||
| /** | ||
| *Turns the left motor at a specified speed | ||
| */ | ||
| /** | ||
| *Turns the left motor at a specified speed | ||
| */ | ||
| //% block | ||
| //% blockId=motion_turn_left block="turn left motor at |speed: %speed" | ||
| //% speed.min=-100 speed.max=100 | ||
| //% weight=60 | ||
| export function turnLeft(speed: number): void { | ||
| drive(speed, 0); | ||
| drive(speed, 0); | ||
| } | ||
|
|
||
| /** | ||
| *Turns the right motor at a specified speed | ||
| */ | ||
| //% block | ||
| //% blockId=motion_turn_right block="turn right motor at |speed: %speed" | ||
| //% speed.min=-100 speed.max=100 | ||
| //% weight=50 | ||
| export function turnRight(speed: number): void { | ||
| drive(0, speed); | ||
| } | ||
| /** | ||
| *Turns the right motor at a specified speed | ||
| */ | ||
| //% block | ||
| //% blockId=motion_turn_right block="turn right motor at |speed: %speed" | ||
| //% speed.min=-100 speed.max=100 | ||
| //% weight=50 | ||
| export function turnRight(speed: number): void { | ||
| drive(0, speed); | ||
| } | ||
|
|
||
| /** | ||
| *Stop the motors | ||
| */ | ||
| //% block | ||
| //% blockId=motion_stop block="stop motors" | ||
| //% weight=45 | ||
| export function stop(): void { | ||
| drive(0, 0); | ||
| } | ||
| /** | ||
| *Stop the motors | ||
| */ | ||
| //% block | ||
| //% blockId=motion_stop block="stop motors" | ||
| //% weight=45 | ||
| export function stop(): void { | ||
| drive(0, 0); | ||
| } | ||
|
|
||
| /** | ||
| * Control both wheels in one function. | ||
| * Speeds range from -100 to 100. | ||
| * Negative speeds go backwards, positive go forwards. | ||
| */ | ||
| //% block | ||
| //% blockId=motion_drive block="drive |left: %leftWheelSpeed|right: %rightWheelSpeed" | ||
| //% leftWheelSpeed.min=-100 leftWheelSpeed.max=100 | ||
| //% rightWheelSpeed.min=-100 rightWheelSpeed.max=100 | ||
| //% weight=40 | ||
| export function drive(leftWheelSpeed: number, rightWheelSpeed: number): void { | ||
| motorControl(Motor.LEFT, leftWheelSpeed) | ||
| motorControl(Motor.RIGHT, rightWheelSpeed) | ||
| } | ||
| /** | ||
| * Control both wheels in one function. | ||
| * Speeds range from -100 to 100. | ||
| * Negative speeds go backwards, positive go forwards. | ||
| */ | ||
| //% block | ||
| //% blockId=motion_drive block="drive |left: %leftWheelSpeed|right: %rightWheelSpeed" | ||
| //% leftWheelSpeed.min=-100 leftWheelSpeed.max=100 | ||
| //% rightWheelSpeed.min=-100 rightWheelSpeed.max=100 | ||
| //% weight=40 | ||
| export function drive(leftWheelSpeed: number, rightWheelSpeed: number): void { | ||
| motorControl(Motor.LEFT, leftWheelSpeed) | ||
| motorControl(Motor.RIGHT, rightWheelSpeed) | ||
| } | ||
|
|
||
| /** | ||
| * Advanced control of an individual motor. PWM is set to constant value. | ||
| */ | ||
| function motorControl(whichMotor: Motor, speed: number): void { | ||
| // Pick the motor using some magic values | ||
| let [pos, neg] = selectMotor(whichMotor); | ||
| /** | ||
| * Advanced control of an individual motor. PWM is set to constant value. | ||
| */ | ||
| function motorControl(whichMotor: Motor, speed: number): void { | ||
| // Pick the motor using some magic values | ||
| let [pos, neg] = selectMotor(whichMotor); | ||
|
|
||
| // drive motors | ||
| let remappedSpeed = speed * 10; | ||
| // forward: power to neg, reverse: power to pos | ||
| pins.analogWritePin(neg, 1023 - Math.abs(Math.max(remappedSpeed, 0))); | ||
| pins.analogWritePin(pos, 1023 - Math.abs(Math.min(0, remappedSpeed))); | ||
| } | ||
| // drive motors | ||
| let remappedSpeed = speed * 10; | ||
| // forward: power to neg, reverse: power to pos | ||
| pins.analogWritePin(neg, 1023 - Math.abs(Math.max(remappedSpeed, 0))); | ||
| pins.analogWritePin(pos, 1023 - Math.abs(Math.min(0, remappedSpeed))); | ||
| } | ||
|
|
||
| function selectMotor(whichMotor: Motor): AnalogPin[] { | ||
| let pos : AnalogPin, neg : AnalogPin; | ||
| switch (whichMotor) { | ||
| case Motor.LEFT: | ||
| pos = cakLand.M1_POS; | ||
| neg = cakLand.M1_NEG; | ||
| break; | ||
| case Motor.RIGHT: | ||
| pos = cakLand.M2_POS; | ||
| neg = cakLand.M2_NEG; | ||
| break; | ||
| default: | ||
| pos = cakLand.M1_POS; | ||
| neg = cakLand.M1_NEG; | ||
| break; | ||
| }; | ||
| return [pos, neg]; | ||
| } | ||
| function selectMotor(whichMotor: Motor): AnalogPin[] { | ||
| let pos : AnalogPin, neg : AnalogPin; | ||
| switch (whichMotor) { | ||
| case Motor.LEFT: | ||
| pos = cakLand.M1_POS; | ||
| neg = cakLand.M1_NEG; | ||
| break; | ||
| case Motor.RIGHT: | ||
| pos = cakLand.M2_POS; | ||
| neg = cakLand.M2_NEG; | ||
| break; | ||
| default: | ||
| pos = cakLand.M1_POS; | ||
| neg = cakLand.M1_NEG; | ||
| break; | ||
| }; | ||
| return [pos, neg]; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,75 +1,75 @@ | ||
| enum Pump { | ||
| //% weight=13 color=#01579b icon="" block="Pump" | ||
| namespace cakLandPump { | ||
| enum Pump { | ||
| //% block="left" | ||
| LEFT = 0, | ||
| //% block="right" | ||
| RIGHT = 1 | ||
| } | ||
| } | ||
|
|
||
| //% weight=13 color=#01579b icon="" block="Pump" | ||
| namespace cakLandPump { | ||
|
|
||
| /** | ||
| * Start the pump | ||
| */ | ||
| //% block | ||
| //% blockId=pump_start block="start %pump pump at speed %speed" | ||
| //% speed.min=0 speed.max=100 | ||
| //% weight=45 | ||
| export function start(pump: Pump, speed: number): void { | ||
| pumpControl(pump, speed) | ||
| } | ||
| /** | ||
| * Start the pump | ||
| */ | ||
| //% block | ||
| //% blockId=pump_start block="start %pump pump at speed %speed" | ||
| //% speed.min=0 speed.max=100 | ||
| //% weight=45 | ||
| export function start(pump: Pump, speed: number): void { | ||
| pumpControl(pump, speed) | ||
| } | ||
|
|
||
| /** | ||
| * Stop the pump | ||
| */ | ||
| //% block | ||
| //% blockId=pump_stop block="stop %pump pump" | ||
| //% weight=45 | ||
| export function stop(pump: Pump): void { | ||
| pumpControl(pump, 0) | ||
| } | ||
| /** | ||
| * Stop the pump | ||
| */ | ||
| //% block | ||
| //% blockId=pump_stop block="stop %pump pump" | ||
| //% weight=45 | ||
| export function stop(pump: Pump): void { | ||
| pumpControl(pump, 0) | ||
| } | ||
|
|
||
| /** | ||
| * Set a pump for a specified time at a specified speed. | ||
| */ | ||
| //% block | ||
| //% blockId=pump_duration block="run %pump pump at speed %speed for %duration seconds" | ||
| //% duration.min=0 duration.max=10 | ||
| //% speed.min=0 speed.max=100 | ||
| //% weight=45 | ||
| export function startDuration(pump: Pump, speed: number, duration: number): void { | ||
| start(pump, speed) | ||
| basic.pause(duration*1000) | ||
| stop(pump) | ||
| } | ||
| /** | ||
| * Set a pump for a specified time at a specified speed. | ||
| */ | ||
| //% block | ||
| //% blockId=pump_duration block="run %pump pump at speed %speed for %duration seconds" | ||
| //% duration.min=0 duration.max=10 | ||
| //% speed.min=0 speed.max=100 | ||
| //% weight=45 | ||
| export function startDuration(pump: Pump, speed: number, duration: number): void { | ||
| start(pump, speed) | ||
| basic.pause(duration*1000) | ||
| stop(pump) | ||
| } | ||
|
|
||
| /** | ||
| * Advanced control of an individual pump. PWM is set to constant value. | ||
| */ | ||
| function pumpControl(whichPump: Pump, speed: number): void { | ||
| let pumpSpeed: number | ||
| /** | ||
| * Advanced control of an individual pump. PWM is set to constant value. | ||
| */ | ||
| function pumpControl(whichPump: Pump, speed: number): void { | ||
| let pumpSpeed: number | ||
|
|
||
| pumpSpeed = remapSpeed(speed) | ||
| pumpSpeed = remapSpeed(speed) | ||
|
|
||
| if (whichPump == Pump.LEFT) { | ||
| pins.analogSetPeriod(cakLand.M1_NEG, 1024) | ||
| pins.analogWritePin(cakLand.M1_NEG, pumpSpeed) | ||
| } else { | ||
| pins.analogSetPeriod(cakLand.M2_NEG, 1024) | ||
| pins.analogWritePin(cakLand.M2_NEG, pumpSpeed) | ||
| } | ||
| if (whichPump == Pump.LEFT) { | ||
| pins.analogSetPeriod(cakLand.M1_NEG, 1024) | ||
| pins.analogWritePin(cakLand.M1_NEG, pumpSpeed) | ||
| } else { | ||
| pins.analogSetPeriod(cakLand.M2_NEG, 1024) | ||
| pins.analogWritePin(cakLand.M2_NEG, pumpSpeed) | ||
| } | ||
| } | ||
|
|
||
| // Rescale values from 0 - 100 to 0 - 1023 | ||
| function remapSpeed(s: number): number { | ||
| let returnSpeed: number | ||
| if (s <= 0) { | ||
| returnSpeed = 0 | ||
| } else if (s >= 100) { | ||
| returnSpeed = 1023 | ||
| } else { | ||
| returnSpeed = (23200 + (s * 791)) / 100 | ||
| } | ||
| return returnSpeed; | ||
| // Rescale values from 0 - 100 to 0 - 1023 | ||
| function remapSpeed(s: number): number { | ||
| let returnSpeed: number | ||
| if (s <= 0) { | ||
| returnSpeed = 0 | ||
| } else if (s >= 100) { | ||
| returnSpeed = 1023 | ||
| } else { | ||
| returnSpeed = (23200 + (s * 791)) / 100 | ||
| } | ||
| return returnSpeed; | ||
| } | ||
| } |
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