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Fixed parts of absolute angle

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This commit is contained in:
Nathan Kellenicki 2020-01-09 22:50:44 -08:00
parent 74be8a752b
commit 56eaa7ca49
4 changed files with 41 additions and 30 deletions
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45
src/devices/absolutemotor.ts
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@ -3,7 +3,7 @@ import { TachoMotor } from "./tachomotor";
import { IDeviceInterface } from "../interfaces"; import { IDeviceInterface } from "../interfaces";
import * as Consts from "../consts"; import * as Consts from "../consts";
import { mapSpeed } from "../utils"; import { mapSpeed, normalizeAngle } from "../utils";
export class AbsoluteMotor extends TachoMotor { export class AbsoluteMotor extends TachoMotor {
@ -16,13 +16,13 @@ export class AbsoluteMotor extends TachoMotor {
switch (mode) { switch (mode) {
case Mode.ABSOLUTE: case Mode.ABSOLUTE:
// const absolute = message.readInt32LE(this.isWeDo2SmartHub ? 2 : 4); const angle = normalizeAngle(message.readInt16LE(this.isWeDo2SmartHub ? 2 : 4));
// /** /**
// * Emits when a the motors absolute position is changed. * Emits when a the motors absolute position is changed.
// * @event AbsoluteMotor#absolute * @event AbsoluteMotor#absolute
// * @param {number} absolute * @param {number} absolute
// */ */
// this.emitGlobal("absolute", { absolute }); this.emitGlobal("absolute", { angle });
break; break;
default: default:
super.receive(message); super.receive(message);
@ -33,12 +33,12 @@ export class AbsoluteMotor extends TachoMotor {
/** /**
* Rotate a motor by a given angle. * Rotate a motor by a given angle.
* @method AbsoluteMotor#gotoAbsolutePosition * @method AbsoluteMotor#gotoAbsolutePosition
* @param {number} position Absolute position the motor should go to (degrees from 0). * @param {number} angle Absolute position the motor should go to (degrees from 0).
* @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. * @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
* @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished). * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
*/ */
public gotoAbsolutePosition (position: [number, number] | number, speed: number = 100) { public gotoAbsoluteAngle (angle: [number, number] | number, speed: number = 100) {
if (!this.isVirtualPort && position instanceof Array) { if (!this.isVirtualPort && angle instanceof Array) {
throw new Error("Only virtual ports can accept multiple positions"); throw new Error("Only virtual ports can accept multiple positions");
} }
if (this.isWeDo2SmartHub) { if (this.isWeDo2SmartHub) {
@ -50,16 +50,17 @@ export class AbsoluteMotor extends TachoMotor {
speed = 100; speed = 100;
} }
let message; let message;
if (position instanceof Array) { if (angle instanceof Array) {
message = Buffer.from([0x81, this.portId, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]); message = Buffer.from([0x81, this.portId, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
message.writeUInt32LE(position[0], 4); message.writeInt32LE(normalizeAngle(angle[0]), 4);
message.writeUInt32LE(position[1], 8); message.writeInt32LE(normalizeAngle(angle[1]), 8);
} else { } else {
message = Buffer.from([0x81, this.portId, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]); message = Buffer.from([0x81, this.portId, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
message.writeUInt32LE(position, 4); message.writeInt32LE(normalizeAngle(angle), 4);
} }
this.send(message); this.send(message);
this._finished = () => { this._finished = () => {
console.log("RESOLVE");
return resolve(); return resolve();
}; };
}); });
@ -68,11 +69,11 @@ export class AbsoluteMotor extends TachoMotor {
/** /**
* (Re)set the knowledge of the absolute position to the current position. * (Re)set the knowledge of the absolute position to the current position.
* @method AbsoluteMotor#resetAbsolutePosition * @method AbsoluteMotor#resetAbsolutePosition
* @param {number} position Position to set (degrees from 0). * @param {number} angle Position to set (degrees from 0).
* @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished). * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
*/ */
public resetAbsolutePosition (position: [number, number] | number) { public resetAbsoluteAngle (angle: [number, number] | number) {
if (!this.isVirtualPort && position instanceof Array) { if (!this.isVirtualPort && angle instanceof Array) {
throw new Error("Only virtual ports can accept multiple positions"); throw new Error("Only virtual ports can accept multiple positions");
} }
if (this.isWeDo2SmartHub) { if (this.isWeDo2SmartHub) {
@ -81,13 +82,13 @@ export class AbsoluteMotor extends TachoMotor {
return new Promise((resolve) => { return new Promise((resolve) => {
this._busy = true; this._busy = true;
let message; let message;
if (position instanceof Array) { if (angle instanceof Array) {
message = Buffer.from([0x81, this.portId, 0x11, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]); message = Buffer.from([0x81, this.portId, 0x11, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]);
message.writeUInt32LE(position[0], 4); message.writeInt32LE(normalizeAngle(angle[0]), 4);
message.writeUInt32LE(position[0], 8); message.writeInt32LE(normalizeAngle(angle[0]), 8);
} else { } else {
message = Buffer.from([0x81, this.portId, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]); message = Buffer.from([0x81, this.portId, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
message.writeUInt32LE(position, 5); message.writeInt32LE(normalizeAngle(angle), 5);
} }
this.send(message); this.send(message);
this._finished = () => { this._finished = () => {

1
src/devices/device.ts
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@ -36,6 +36,7 @@ export class Device extends EventEmitter {
} }
if (this.autoSubscribe) { if (this.autoSubscribe) {
if (this._modeMap[event] !== undefined) { if (this._modeMap[event] !== undefined) {
console.log(this._modeMap[event]);
this.subscribe(this._modeMap[event]); this.subscribe(this._modeMap[event]);
} }
} }

16
src/devices/tachomotor.ts
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@ -16,13 +16,13 @@ export class TachoMotor extends BasicMotor {
switch (mode) { switch (mode) {
case Mode.ROTATION: case Mode.ROTATION:
const rotation = message.readInt32LE(this.isWeDo2SmartHub ? 2 : 4); const degrees = message.readInt32LE(this.isWeDo2SmartHub ? 2 : 4);
/** /**
* Emits when a rotation sensor is activated. * Emits when a rotation sensor is activated.
* @event TachoMotor#rotate * @event TachoMotor#rotate
* @param {number} rotation * @param {number} rotation
*/ */
this.emitGlobal("rotate", { rotation }); this.emitGlobal("rotate", { degrees });
break; break;
} }
} }
@ -68,18 +68,18 @@ export class TachoMotor extends BasicMotor {
} }
/** /**
* Rotate a motor by a given angle. * Rotate a motor by a given amount of degrees.
* @method TachoMotor#rotateByAngle * @method TachoMotor#rotateByDegrees
* @param {number} angle How much the motor should be rotated (in degrees). * @param {number} degrees How much the motor should be rotated (in degrees).
* @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. * @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
* @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished). * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
*/ */
public rotateByAngle (angle: number, speed: [number, number] | number) { public rotateByDegrees (degrees: number, speed: [number, number] | number) {
if (!this.isVirtualPort && speed instanceof Array) { if (!this.isVirtualPort && speed instanceof Array) {
throw new Error("Only virtual ports can accept multiple speeds"); throw new Error("Only virtual ports can accept multiple speeds");
} }
if (this.isWeDo2SmartHub) { if (this.isWeDo2SmartHub) {
throw new Error("Angle rotation is not available on the WeDo 2.0 Smart Hub"); throw new Error("Rotation is not available on the WeDo 2.0 Smart Hub");
} }
return new Promise((resolve) => { return new Promise((resolve) => {
this._busy = true; this._busy = true;
@ -92,7 +92,7 @@ export class TachoMotor extends BasicMotor {
} else { } else {
message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]); message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
} }
message.writeUInt32LE(angle, 4); message.writeUInt32LE(degrees, 4);
this.send(message); this.send(message);
this._finished = () => { this._finished = () => {
return resolve(); return resolve();

9
src/utils.ts
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@ -29,3 +29,12 @@ export const decodeVersion = (version: number) => {
export const decodeMACAddress = (address: Uint8Array) => { export const decodeMACAddress = (address: Uint8Array) => {
return Array.from(address).map((part) => toHex(part, 2)).join(":"); return Array.from(address).map((part) => toHex(part, 2)).join(":");
}; };
export const normalizeAngle = (angle: number) => {
if (angle >= 180) {
return angle - (360 * ((angle + 180) / 360));
} else if (angle < -180) {
return angle + (360 * ((180 - angle) / 360));
}
return angle;
};