Control two medium motors

sim/state/motornode.ts

@@ -16,25 +16,27 @@ namespace pxsim {
         private speedCmdTacho: number;
         private speedCmdTime: number;
         private _synchedMotor: MotorNode; // non-null if synchronized
+        private _inverted: boolean;
 
         private manualReferenceAngle: number = undefined;
         private manualAngle: number = undefined;
 
         constructor(port: number, large: boolean) {
             super(port);
             this.setLarge(large);
+            this.setInverted(false);
         }
 
         isReady() {
             return !this.speedCmd;
         }
 
         getSpeed() {
-            return Math.round(this.speed);
+            return Math.round(this.speed * this.invertedFactor());
         }
 
         getAngle() {
-            return Math.round(this.angle);
+            return Math.round(this.angle * this.invertedFactor());
         }
 
         // returns the secondary motor if any
@@ -55,6 +57,7 @@ namespace pxsim {
         }
 
         setSyncCmd(motor: MotorNode, cmd: DAL, values: number[]) {
+            console.log(`motor: ${motor.port}, speed: ${values[0]}, turnRatio: ${values[0]}`);
             this.setSpeedCmd(cmd, values);
             this._synchedMotor = motor;
         }
@@ -73,10 +76,23 @@ namespace pxsim {
 
         setLarge(large: boolean) {
             this.id = large ? NodeType.LargeMotor : NodeType.MediumMotor;
-            // large 170 rpm  (https://education.lego.com/en-us/products/ev3-large-servo-motor/45502)
+            // large 170 rpm (https://education.lego.com/en-us/products/ev3-large-servo-motor/45502)
             this.rotationsPerMilliSecond = (large ? 170 : 250) / 60000;
         }
 
+        setInverted(inverted: boolean) {
+            this._inverted = inverted;
+            this.setChangedState();
+        }
+
+        isInverted(): boolean {
+            return this._inverted;
+        }
+
+        invertedFactor(): number {
+            return this._inverted ? -1 : 1
+        }
+
         isLarge(): boolean {
             return this.id == NodeType.LargeMotor;
         }
@@ -195,19 +211,19 @@ namespace pxsim {
                             : this.tacho - this.speedCmdTacho;
                         // 0 is special case, run infinite
                         if (!stepsOrTime || dstep < stepsOrTime)
-                            this.speed = speed;
+                            this.speed = speed * this.invertedFactor();
                         else {
                             if (brake) this.speed = 0;
                             this.clearSpeedCmd();
                         }
 
                         // turn ratio is a bit weird to interpret
                         // see https://communities.theiet.org/blogs/698/1706
-                        otherMotor.speed = this.speed * (100 - Math.abs(turnRatio)) / 100;
+                        otherMotor.speed = this.speed * otherMotor.invertedFactor() * (100 - Math.abs(turnRatio)) / 100;
 
                         // clamp
                         this.speed = Math.max(-100, Math.min(100, this.speed >> 0));
-                        otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));;
+                        otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));
 
                         // stop other motor if needed
                         if (!this._synchedMotor)

sim/state/output.ts

@@ -82,15 +82,17 @@ namespace pxsim {
                             const motors = ev3board().getMotor(port);
                             // cancel any other sync command
                             for(const motor of ev3board().getMotors().filter(motor => motors.indexOf(motor) < 0)) {
-                                motor.clearSyncCmd()
+                                motor.clearSyncCmd();
                             }
 
                             // apply commands to all motors
                             for (const motor of motors) {
+                                const invertedFactor = motor.isInverted() ? -1 : 1;
+                                //console.log(`motor.port: ${motor.port}, invertedFactor: ${invertedFactor}, speed * inv: ${speed * invertedFactor}`);
                                 const otherMotor = motors.filter(m => m.port != motor.port)[0];
                                 motor.setSyncCmd(
                                     otherMotor,
-                                    cmd, [speed, turnRatio, stepsOrTime, brake]);
+                                    cmd, [speed * invertedFactor, turnRatio, stepsOrTime, brake]);
                             }
                             return 2;
                         }
@@ -119,7 +121,16 @@ namespace pxsim {
                             return 2;
                         }
                         case DAL.opOutputPolarity: {
-                            console.error("opOutputPolarity not supported");
+                            const portIndex = buf.data[1];
+                            for (let i = 0, offset = 2; i < DAL.NUM_OUTPUTS; i++) {
+                                if (portIndex & (1 << i)) {
+                                    const inverted = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, offset) == -1? true : false;
+                                    //console.log(`port${i}: ${inverted}`);
+                                    const motor = ev3board().getMotors()[i];
+                                    if (motor) motor.setInverted(inverted);
+                                    offset++;
+                                }
+                            }
                             return 2;
                         }
                         case DAL.opOutputSetType: {

sim/visuals/assets/MediumMotorsvg.ts

@@ -1,3 +1,3 @@
 namespace pxsim.visuals {
-    export const MEDIUM_MOTOR_SVG = `<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 48 68"><defs><linearGradient id="linear-gradient" x1="-427.2" y1="440.79" x2="-427.2" y2="440.63" gradientTransform="matrix(44.14 0 0 -44.15 18878.72 19502.57)" gradientUnits="userSpaceOnUse"><stop offset="0" stop-color="#a8aaa8"/><stop offset="1" stop-color="#535453"/></linearGradient></defs><g style="isolation:isolate" transform="translate(0 20)"><g id="svg7610"><g id="Medium_Motor" data-name="Medium Motor"><g id="medmotor_box" data-name="medmotor box"><path id="medmotor_box_wgradient" data-name="medmotor box wgradient" d="M2.57 0h39a2.36 2.36 0 0 1 2.57 2v40.33c0 1-1.1 1.82-2.57 1.82h-39C1.1 44.15 0 43.34 0 42.33V2a2.36 2.36 0 0 1 2.57-2z" transform="translate(2 1.84)" fill="url(#linear-gradient)"/></g><g id="medmotor_star" data-name="medmotor star"><image width="48" height="48" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAAxCAYAAACcXioiAAAACXBIWXMAAAsSAAALEgHS3X78AAACfElEQVRoQ+2aPXLbMBBG32ZUijlCnDo/R1AukCoHyAFS5Sw5g5t0bnwCu0ofpTZ9A1usvSmwoClRJEEAI4gzejMcqliS+2FB4AMoUVVyISICrIErO3dpgBpoNONDJde9RKTCJf4R+Ga/u9TADbAFalXdkYEsAiz5L8B3nICxCmyBa+Auh4jVVMAUneR/ABugAuRIaIUT9w4TJyLJIpIEWJ+/wrX8Bng7fgViMRtcRR5F5G/KO/FmKiCANa5Vq6nADhXwwY7DrjaLHALgeJcZQ4D32MtulYwil4AYfOXOogKxRLe8p7SAZC4CSnMRUJrBmThwbBbSRxIh4HFDs3VPwIQl7oXj/M1U3BBr3PUAY3aiEZGjVnzPjQZY4mOscbNqjIgGeLDzGINWvBUQaImHSOlGIUZu2IqbgAr4CtwCT8AL7sbndLzgcrvF5Vq1jQ98An5bwNSNSh9PuFw/A+KH0RhLXIo9K96dB1L68SnZs+JLnchaK75UAWA9ZskCgGULUFiugAZ4BJquAB0IPjcUZz9ugNoL8IqSNplOxA74Z0ezUlU1p3eNG5787tocUuaQOZXfAfe4XB9UVVcAqroTkTsLaghzoZ5TuFGPb+jWzA3Z6dBk/Hrgp53nVEJx7vKXnUMq0XBgp/cWNFaJbe+yYXzCoS14SINL/g9hAnors96KbM5Gqy0Dg+MHUNxjo+6z1Hmg5SKgNBcBpSktIGrk6VJSQOsopwLHKCVAed2sqmPnAMgnICaB9sv9VOAYOQTEWPEdGZKHRAFWeu8Q74Fnpjemnnm1xEndBxI/dEOUFe9Z4hSy/FcCZlnxniVOIZsACPhKYaR2my5ZBZTgP7HrUIs43RAaAAAAAElFTkSuQmCC" style="mix-blend-mode:multiply" opacity=".3"/><path id="medmotor_cut-2" data-name="medmotor cut-2" d="M0 21.25A6.21 6.21 0 0 1 6.22 15H15V6.23A6.22 6.22 0 0 1 21.24 0h1.66a6.22 6.22 0 0 1 6.22 6.22V15h8.8a6.21 6.21 0 0 1 6.22 6.22v1.66a6.21 6.21 0 0 1-6.22 6.22h-8.8v8.8a6.21 6.21 0 0 1-6.22 6.22h-1.66A6.22 6.22 0 0 1 15 37.93v-8.8H6.22A6.22 6.22 0 0 1 0 22.92z" transform="translate(2 1.84)" fill="#a8aaa8"/><circle id="medmotor_hole_4" data-name="medmotor hole 4" cx="39.77" cy="24" r="4.85" fill="#393939"/><circle id="medmotor_hole_3" data-name="medmotor hole 3" cx="8.37" cy="24" r="4.85" fill="#393939"/><circle id="medmotor_hole_2" data-name="medmotor hole 2" cx="24.15" cy="8.22" r="4.85" fill="#393939"/><circle id="medmotor_hole_1" data-name="medmotor hole 1" cx="24.15" cy="39.62" r="4.85" fill="#393939"/></g><g id="medmotor_red" data-name="medmotor red"><circle cx="24.3" cy="24" r="6.75" fill="#d42715"/><circle cx="24.3" cy="24" r="6.63" fill="none" stroke="#a20800" stroke-width=".25"/></g><path id="medmotor_Hole" data-name="medmotor Hole" d="M20.59 19.46s-.05 1-.77 1h-1.46a2.38 2.38 0 0 0-.45 1.69c0 1.27.36 1.6.36 1.6h1.62a.64.64 0 0 1 .7.59.21.21 0 0 1 0 .11v1.67a4 4 0 0 0 1.77.29 6.88 6.88 0 0 0 1.64-.26v-1.67a.73.73 0 0 1 .73-.7 9.89 9.89 0 0 0 1.44-.14s.4-.37.44-1.63-.36-1.64-.36-1.64H24.6a.65.65 0 0 1-.75-.51.49.49 0 0 1 0-.17 11.22 11.22 0 0 1 0-1.64 4.78 4.78 0 0 0-3.25 0c-.02.69-.01 1.41-.01 1.41z" transform="translate(2 1.84)"/></g></g></g></svg>`;
+    export const MEDIUM_MOTOR_SVG = `<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 48 100"><defs><linearGradient id="linear-gradient" x1="-427.2" y1="440.79" x2="-427.2" y2="440.63" gradientTransform="matrix(44.14 0 0 -44.15 18878.72 19502.57)" gradientUnits="userSpaceOnUse"><stop offset="0" stop-color="#a8aaa8"/><stop offset="1" stop-color="#535453"/></linearGradient></defs><g style="isolation:isolate" transform="translate(0 52)"><g id="svg7610"><g id="Medium_Motor" data-name="Medium Motor"><g id="medmotor_box" data-name="medmotor box"><path id="medmotor_box_wgradient" data-name="medmotor box wgradient" d="M2.57 0h39a2.36 2.36 0 0 1 2.57 2v40.33c0 1-1.1 1.82-2.57 1.82h-39C1.1 44.15 0 43.34 0 42.33V2a2.36 2.36 0 0 1 2.57-2z" transform="translate(2 1.84)" fill="url(#linear-gradient)"/></g><g id="medmotor_star" data-name="medmotor star"><image width="48" height="48" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAAxCAYAAACcXioiAAAACXBIWXMAAAsSAAALEgHS3X78AAACfElEQVRoQ+2aPXLbMBBG32ZUijlCnDo/R1AukCoHyAFS5Sw5g5t0bnwCu0ofpTZ9A1usvSmwoClRJEEAI4gzejMcqliS+2FB4AMoUVVyISICrIErO3dpgBpoNONDJde9RKTCJf4R+Ga/u9TADbAFalXdkYEsAiz5L8B3nICxCmyBa+Auh4jVVMAUneR/ABugAuRIaIUT9w4TJyLJIpIEWJ+/wrX8Bng7fgViMRtcRR5F5G/KO/FmKiCANa5Vq6nADhXwwY7DrjaLHALgeJcZQ4D32MtulYwil4AYfOXOogKxRLe8p7SAZC4CSnMRUJrBmThwbBbSRxIh4HFDs3VPwIQl7oXj/M1U3BBr3PUAY3aiEZGjVnzPjQZY4mOscbNqjIgGeLDzGINWvBUQaImHSOlGIUZu2IqbgAr4CtwCT8AL7sbndLzgcrvF5Vq1jQ98An5bwNSNSh9PuFw/A+KH0RhLXIo9K96dB1L68SnZs+JLnchaK75UAWA9ZskCgGULUFiugAZ4BJquAB0IPjcUZz9ugNoL8IqSNplOxA74Z0ezUlU1p3eNG5787tocUuaQOZXfAfe4XB9UVVcAqroTkTsLaghzoZ5TuFGPb+jWzA3Z6dBk/Hrgp53nVEJx7vKXnUMq0XBgp/cWNFaJbe+yYXzCoS14SINL/g9hAnors96KbM5Gqy0Dg+MHUNxjo+6z1Hmg5SKgNBcBpSktIGrk6VJSQOsopwLHKCVAed2sqmPnAMgnICaB9sv9VOAYOQTEWPEdGZKHRAFWeu8Q74Fnpjemnnm1xEndBxI/dEOUFe9Z4hSy/FcCZlnxniVOIZsACPhKYaR2my5ZBZTgP7HrUIs43RAaAAAAAElFTkSuQmCC" style="mix-blend-mode:multiply" opacity=".3"/><path id="medmotor_cut-2" data-name="medmotor cut-2" d="M0 21.25A6.21 6.21 0 0 1 6.22 15H15V6.23A6.22 6.22 0 0 1 21.24 0h1.66a6.22 6.22 0 0 1 6.22 6.22V15h8.8a6.21 6.21 0 0 1 6.22 6.22v1.66a6.21 6.21 0 0 1-6.22 6.22h-8.8v8.8a6.21 6.21 0 0 1-6.22 6.22h-1.66A6.22 6.22 0 0 1 15 37.93v-8.8H6.22A6.22 6.22 0 0 1 0 22.92z" transform="translate(2 1.84)" fill="#a8aaa8"/><circle id="medmotor_hole_4" data-name="medmotor hole 4" cx="39.77" cy="24" r="4.85" fill="#393939"/><circle id="medmotor_hole_3" data-name="medmotor hole 3" cx="8.37" cy="24" r="4.85" fill="#393939"/><circle id="medmotor_hole_2" data-name="medmotor hole 2" cx="24.15" cy="8.22" r="4.85" fill="#393939"/><circle id="medmotor_hole_1" data-name="medmotor hole 1" cx="24.15" cy="39.62" r="4.85" fill="#393939"/></g><g id="medmotor_red" data-name="medmotor red"><circle cx="24.3" cy="24" r="6.75" fill="#d42715"/><circle cx="24.3" cy="24" r="6.63" fill="none" stroke="#a20800" stroke-width=".25"/></g><path id="medmotor_Hole" data-name="medmotor Hole" d="M20.59 19.46s-.05 1-.77 1h-1.46a2.38 2.38 0 0 0-.45 1.69c0 1.27.36 1.6.36 1.6h1.62a.64.64 0 0 1 .7.59.21.21 0 0 1 0 .11v1.67a4 4 0 0 0 1.77.29 6.88 6.88 0 0 0 1.64-.26v-1.67a.73.73 0 0 1 .73-.7 9.89 9.89 0 0 0 1.44-.14s.4-.37.44-1.63-.36-1.64-.36-1.64H24.6a.65.65 0 0 1-.75-.51.49.49 0 0 1 0-.17 11.22 11.22 0 0 1 0-1.64 4.78 4.78 0 0 0-3.25 0c-.02.69-.01 1.41-.01 1.41z" transform="translate(2 1.84)"/></g></g></g></svg>`;
 }

sim/visuals/controls/motorReporter.ts

@@ -1,5 +1,3 @@
-
-
 namespace pxsim.visuals {
 
     export class MotorReporterControl extends ControlView<MotorNode> {

sim/visuals/controls/motorSlider.ts

@@ -1,5 +1,3 @@
-
-
 namespace pxsim.visuals {
 
     export class MotorSliderControl extends ControlView<MotorNode> {
@@ -81,6 +79,7 @@ namespace pxsim.visuals {
 
         private lastPosition: number;
         private prevVal: number;
+
         private updateSliderValue(pt: SVGPoint, parent: SVGSVGElement, ev: MouseEvent) {
             let cur = svg.cursorPoint(pt, parent, ev);
             let bBox = this.content.getBoundingClientRect();
@@ -147,7 +146,7 @@ namespace pxsim.visuals {
                 return;
             }
             const node = this.state;
-            const angle = node.getAngle() % 360;
+            const angle = (node.isInverted() ? 360 - node.getAngle() * -1 : node.getAngle()) % 360;
 
             // Update reporter
             this.reporter.textContent = `${angle}°`;

sim/visuals/nodes/largeMotorView.ts

@@ -24,16 +24,16 @@ namespace pxsim.visuals {
                 } else if (this.syncedLabelG) {
                     this.syncedLabelG.parentNode.removeChild(this.syncedLabelG);
                 }
-                this.setMotorLabel(motorState.getSpeed(), true);
+                this.setMotorLabel(motorState.getSpeed(), motorState.isInverted(), true);
             }
-            this.setMotorLabel(motorState.getSpeed());
+            this.setMotorLabel(motorState.getSpeed(), motorState.isInverted());
         }
 
         private showSyncedLabel(motorNode: MotorNode, syncedMotor: MotorNode) {
             const a = String.fromCharCode('A'.charCodeAt(0) + motorNode.port);
             const b = String.fromCharCode('A'.charCodeAt(0) + syncedMotor.port);
 
-            this.syncedLabelG = pxsim.svg.child(this.element, 'g', {'transform': 'scale(0.5)'}) as SVGGElement;
+            this.syncedLabelG = pxsim.svg.child(this.element, 'g', {'transform': 'translate(0, 28), scale(0.5)'}) as SVGGElement;
             pxsim.svg.child(this.syncedLabelG, 'rect', {'rx': 15, 'ry': 15, 'x': 0, 'y': 0, 'width': 84, 'height': 34, 'fill': '#A8A9A8'});
             pxsim.svg.child(this.syncedLabelG, 'circle', {'cx': 17, 'cy': 17, 'r': 15, 'fill': 'white'});
             const leftLabel = pxsim.svg.child(this.syncedLabelG, 'text', {'transform': 'translate(11, 22)', 'class': 'no-drag', 'style': 'isolation: isolate;font-size: 16px;fill: #A8A9A8;font-family: ArialMT, Arial'});
@@ -58,10 +58,14 @@ namespace pxsim.visuals {
             return 0.37;
         }
 
-        protected positionMotorLabel() {
+        protected positionMotorLabel(reverse: boolean) {
             const hasSyncedLabel = this.syncedMotor;
-            this.motorLabelGroup.setAttribute('transform', `translate(${hasSyncedLabel ? '15 35' : '25 15'})`);
+            this.motorLabelGroup.setAttribute('transform', `translate(${hasSyncedLabel ? '15 65' : '25 47'})`);
             this.motorLabel.style.fontSize = '13px';
+            if (reverse) {
+                this.motorReverseLabelGroup.setAttribute('transform', `translate(40 18)`);
+                this.motorReverseLabel.style.fontSize = '12px';
+            }
         }
     }
 }