{ "format": "evn-blocks", "version": 3, "title": "Motor: every block", "needs": "motors on ports 1 and 2, wheels off the ground; when the program asks, hold the wheel on port 1 until it stops", "description": "Every motor block once: set-up, the four moves, stall detection, measuring, the advanced controls and the calibration. Port 2 is mounted mirrored (counterclockwise is forward) and counts in % of full speed.", "workspace": { "blocks": { "languageVersion": 0, "blocks": [ { "type": "evn_setup_start", "x": 30, "y": 30, "next": { "block": { "type": "evn_motor_setup", "fields": { "PORT": "1", "DIRECTION": "CW", "UNIT": "DEG_S" }, "next": { "block": { "type": "evn_motor_setup", "fields": { "PORT": "2", "DIRECTION": "CCW", "UNIT": "PERCENT" } } } } } }, { "type": "evn_program_start", "x": 30, "y": 170, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "calibrate each motor once (the shaft moves up to about a turn and a half each way): skipped when the board already has one" }, "next": { "block": { "type": "controls_if", "inputs": { "IF0": { "block": { "type": "logic_negate", "inputs": { "BOOL": { "block": { "type": "evn_motor_calibrated", "fields": { "PORT": "1" } } } } } }, "DO0": { "block": { "type": "evn_motor_calibrate", "fields": { "PORT": "1", "WAIT": true } } } }, "next": { "block": { "type": "controls_if", "inputs": { "IF0": { "block": { "type": "logic_negate", "inputs": { "BOOL": { "block": { "type": "evn_motor_calibrated", "fields": { "PORT": "2" } } } } } }, "DO0": { "block": { "type": "evn_motor_calibrate", "fields": { "PORT": "2", "WAIT": true } } } }, "next": { "block": { "type": "evn_motor_reset_angle", "fields": { "PORT": "1" }, "inputs": { "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": 0 } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "the four moves: by an angle, to an angle, for a time, and at a speed" }, "next": { "block": { "type": "evn_motor_run_angle", "fields": { "PORT": "1", "THEN": "HOLD", "WAIT": true }, "inputs": { "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": 500 } } }, "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": 360 } } } }, "next": { "block": { "type": "evn_motor_run_target", "fields": { "PORT": "1", "THEN": "BRAKE", "WAIT": true }, "inputs": { "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": 300 } } }, "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": 90 } } } }, "next": { "block": { "type": "evn_motor_run_time", "fields": { "PORT": "2", "THEN": "COAST", "WAIT": false }, "inputs": { "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": 50 } } }, "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 1000 } } } }, "next": { "block": { "type": "evn_motor_wait_done", "fields": { "PORT": "2" }, "next": { "block": { "type": "evn_motor_run", "fields": { "PORT": "1" }, "inputs": { "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": 200 } } } }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 1000 } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "evn_motor_measure", "fields": { "PORT": "1", "WHAT": "speed" } } } }, "next": { "block": { "type": "evn_motor_stop", "fields": { "ACTION": "brake", "PORT": "1" }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "what the motor reports" }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "evn_motor_measure", "fields": { "PORT": "1", "WHAT": "angle" } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "evn_motor_measure", "fields": { "PORT": "1", "WHAT": "load" } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "evn_motor_measure", "fields": { "PORT": "1", "WHAT": "full_speed" } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "evn_motor_is", "fields": { "PORT": "1", "WHAT": "done" } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "gentler moves: one limit at a time, the others kept" }, "next": { "block": { "type": "evn_motor_limit", "fields": { "PORT": "1", "WHAT": "acceleration" }, "inputs": { "VALUE": { "shadow": { "type": "math_number", "fields": { "NUM": 1000 } } } }, "next": { "block": { "type": "evn_motor_run_angle", "fields": { "PORT": "1", "THEN": "HOLD", "WAIT": true }, "inputs": { "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": 500 } } }, "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": -360 } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "run until something stops the shaft; on a free shaft that is your hand, so the program asks" }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "Hold the wheel on port 1 until it stops ..." } } } }, "next": { "block": { "type": "evn_motor_run_until_stalled", "fields": { "PORT": "1", "THEN": "COAST" }, "inputs": { "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": 150 } } }, "DUTY": { "shadow": { "type": "math_number", "fields": { "NUM": 40 } } } }, "next": { "block": { "type": "controls_if", "inputs": { "IF0": { "block": { "type": "evn_motor_is", "fields": { "PORT": "1", "WHAT": "stalled" } } }, "DO0": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "stalled" } } } } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "no speed control: a duty cycle; and following a moving target" }, "next": { "block": { "type": "evn_motor_dc", "fields": { "PORT": "2" }, "inputs": { "DUTY": { "shadow": { "type": "math_number", "fields": { "NUM": 30 } } } }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 500 } } } }, "next": { "block": { "type": "evn_motor_stop", "fields": { "ACTION": "stop", "PORT": "2" }, "next": { "block": { "type": "controls_repeat_ext", "inputs": { "TIMES": { "shadow": { "type": "math_number", "fields": { "NUM": 10 } } }, "DO": { "block": { "type": "evn_motor_track_target", "fields": { "PORT": "1" }, "inputs": { "ANGLE": { "block": { "type": "math_arithmetic", "fields": { "OP": "ADD" }, "inputs": { "A": { "block": { "type": "evn_motor_measure", "fields": { "PORT": "1", "WHAT": "angle" } } }, "B": { "shadow": { "type": "math_number", "fields": { "NUM": 10 } } } } } } }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 50 } } } } } } } } }, "next": { "block": { "type": "evn_motor_stop", "fields": { "ACTION": "hold", "PORT": "1" }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 500 } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "the end: every motor coasts" }, "next": { "block": { "type": "evn_stop_all" } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } ] } } }