From 933ec16a6bff08b0f9bb9652c764be9143105fb8 Mon Sep 17 00:00:00 2001
From: noqman <140384051+noqman@users.noreply.github.com>
Date: Tue, 29 Oct 2024 12:52:01 +0800
Subject: [PATCH] Added a block to set motors speed individually and revised
 acceleration value

---
 motor.ts | 63 +++++++++++++++++++++++++++++++++++++++++++-------------
 1 file changed, 49 insertions(+), 14 deletions(-)

diff --git a/motor.ts b/motor.ts
index 8ff493c..96cc10c 100644
--- a/motor.ts
+++ b/motor.ts
@@ -66,37 +66,37 @@ export enum MotorChannel {
 
     /**
      * Run the motor forward or backward.
-     * (Speed = 0-255) (Acceleration = 0-9).
+     * (Speed = 0-255) (Acceleration = 1-9).
      * @param motor Motor channel.
      * @param direction Motor direction.
      * @param speed Motor speed (PWM). eg: 128
-     * @param accelaration Acceleration factor (0-9). eg: 0
+     * @param acceleration Acceleration factor (1-9). eg: 4
      */
     //% group="DC Motors"
     //% weight=99
     //% blockGap=8
     //% blockId=sumobit_motor_run
     //% accel.fieldOptions.label="Acceleration Factor"
-    //% block="run %motor motor %direction at %speed speed || with %accelaration acceleration factor"
+    //% block="run %motor motor %direction at %speed speed || with %acceleration acceleration factor"
     //% inlineInputMode=inline
     //% speed.min=0 speed.max=255
-    //% accelaration.min=0 accelaration.max=9
+    //% acceleration.min=1 acceleration.max=9
     //% expandableArgumentMode="enabled"
     
-    export function runMotor(motor: MotorChannel, direction: MotorDirection, speed: number, accelaration: number = 0): void {
+    export function runMotor(motor: MotorChannel, direction: MotorDirection, speed: number, acceleration: number = 4): void {
         speed = sumobit.limit(speed, 0, 255);
-        accelaration = sumobit.limit(accelaration, 0, 9);
+        acceleration = sumobit.limit(acceleration, 1, 9);
         switch (motor) {
             case MotorChannel.MR:
                 if (direction == MotorDirection.Forward) {
                     sumobit.i2cWrite(REG_ADD_PWM1, speed);
                     sumobit.i2cWrite(REG_ADD_DIR1, 0);
-                    sumobit.i2cWrite(REG_ADD_ACCEL1, accelaration);
+                    sumobit.i2cWrite(REG_ADD_ACCEL1, acceleration);
                 }
                 else {
                     sumobit.i2cWrite(REG_ADD_PWM1, speed);
                     sumobit.i2cWrite(REG_ADD_DIR1, 1);
-                    sumobit.i2cWrite(REG_ADD_ACCEL1, accelaration);
+                    sumobit.i2cWrite(REG_ADD_ACCEL1, acceleration);
                 }
                 break;
 
@@ -104,12 +104,12 @@ export enum MotorChannel {
                 if (direction == MotorDirection.Forward) {
                     sumobit.i2cWrite(REG_ADD_PWM2, speed);
                     sumobit.i2cWrite(REG_ADD_DIR2, 0);
-                    sumobit.i2cWrite(REG_ADD_ACCEL2, accelaration);
+                    sumobit.i2cWrite(REG_ADD_ACCEL2, acceleration);
                 }
                 else {
                     sumobit.i2cWrite(REG_ADD_PWM2, speed);
                     sumobit.i2cWrite(REG_ADD_DIR2, 1);
-                    sumobit.i2cWrite(REG_ADD_ACCEL2, accelaration);
+                    sumobit.i2cWrite(REG_ADD_ACCEL2, acceleration);
                 }
                 break;
 
@@ -117,22 +117,57 @@ export enum MotorChannel {
                 if (direction == MotorDirection.Forward) {
                     sumobit.i2cWrite(REG_ADD_PWM1, speed);
                     sumobit.i2cWrite(REG_ADD_DIR1, 0);
-                    sumobit.i2cWrite(REG_ADD_ACCEL1, accelaration);
+                    sumobit.i2cWrite(REG_ADD_ACCEL1, acceleration);
                     sumobit.i2cWrite(REG_ADD_PWM2, speed);
                     sumobit.i2cWrite(REG_ADD_DIR2, 0);
-                    sumobit.i2cWrite(REG_ADD_ACCEL2, accelaration);
+                    sumobit.i2cWrite(REG_ADD_ACCEL2, acceleration);
                 }
                 else {
                     sumobit.i2cWrite(REG_ADD_PWM1, speed);
                     sumobit.i2cWrite(REG_ADD_DIR1, 1);
-                    sumobit.i2cWrite(REG_ADD_ACCEL1, accelaration);
+                    sumobit.i2cWrite(REG_ADD_ACCEL1, acceleration);
                     sumobit.i2cWrite(REG_ADD_PWM2, speed);
                     sumobit.i2cWrite(REG_ADD_DIR2, 1);
-                    sumobit.i2cWrite(REG_ADD_ACCEL2, accelaration);
+                    sumobit.i2cWrite(REG_ADD_ACCEL2, acceleration);
                 }
                 break;
         }
     }
 
+    /**
+     * Set individual motors speed (speed = -255 to 255, negative value = reverse). 
+     * @param leftSpeed Speed for left motor. eg: 0
+     * @param rightSpeed Speed for right motor. eg: 0
+     */
+    //% group="DC Motors"
+    //% weight=97
+    //% blockGap=8
+    //% blockId=sumobit_motor_set_speed
+    //% block="set motors speed: left %leftSpeed right %rightSpeed || acceleration %acceleration "
+    //% leftSpeed.min=-255 leftSpeed.max=255
+    //% rightSpeed.min=-255 rightSpeed.max=255
+    //% acceleration.min=1 acceleration.max=9
+    //% expandableArgumentMode="enabled"
+    export function setMotorsSpeed(leftSpeed: number, rightSpeed: number, acceleration: number = 4): void {
+        let leftDir = MotorDirection.Forward;
+        let rightDir = MotorDirection.Forward;
+
+        if (leftSpeed < 0) {
+            leftSpeed = -leftSpeed;
+            leftDir = MotorDirection.Backward;
+        }
+
+        if (rightSpeed < 0) {
+            rightSpeed = -rightSpeed;
+            rightDir = MotorDirection.Backward;
+        }
+        sumobit.runMotor(0, rightDir, rightSpeed, acceleration);
+        sumobit.runMotor(1, leftDir, leftSpeed, acceleration);
+    }
+        
+        
+
+    
+
 
 }