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export type StopAction = 'COAST' | 'BRAKE' | 'HOLD';
export interface MotorTarget {
type: 'CONTINUOUS' | 'DEGREES' | 'TIME';
targetSpeedDegPerSec: number;
remainingDegrees?: number;
remainingSeconds?: number;
stopAction: StopAction;
onComplete?: () => void;
}
export function resolveMotorSpeedInput(speedPercent: any, defaultSpeed: number = 50): number {
if (typeof speedPercent === 'number' && Number.isFinite(speedPercent)) {
return Math.max(-100, Math.min(100, speedPercent));
}
if (typeof speedPercent === 'string') {
const s = speedPercent.trim().toLowerCase();
if (s === 'counterclockwise' || s === 'ccw' || s === 'anticlockwise' || s === 'reverse' || s === 'backward') {
return -Math.abs(defaultSpeed);
}
if (s === 'clockwise' || s === 'cw' || s === 'forward') {
return Math.abs(defaultSpeed);
}
const parsed = parseFloat(s);
if (Number.isFinite(parsed)) {
return Math.max(-100, Math.min(100, parsed));
}
}
if (typeof speedPercent === 'object' && speedPercent !== null) {
let sign = 1;
if (speedPercent.direction) {
const d = String(speedPercent.direction).toLowerCase();
if (d === 'counterclockwise' || d === 'ccw' || d === 'anticlockwise' || d === 'reverse' || d === 'backward') {
sign = -1;
}
}
const spd = speedPercent.speed !== undefined ? Number(speedPercent.speed) : defaultSpeed;
const val = Number.isFinite(spd) ? spd : defaultSpeed;
return Math.max(-100, Math.min(100, Math.abs(val) * sign));
}
return defaultSpeed;
}
export class VirtualMotor {
public port: MotorPort;
public degrees: number = 0; // Accumulated encoder angle
public velocityDegPerSec: number = 0; // Current velocity
public targetSpeedDegPerSec: number = 0;
public maxSpeedDegPerSec: number = 1000; // ~166 RPM
public maxTorqueNm: number = 0.25;
private activeTarget: MotorTarget | null = null;
private stopAction: StopAction = 'BRAKE';
constructor(port: MotorPort) {
this.port = port;
}
/**
* Alias getter/setter for targetVelocityDegPerSec used by test suites and telemetry
*/
public get targetVelocityDegPerSec(): number {
return this.targetSpeedDegPerSec;
}
public set targetVelocityDegPerSec(v: number) {
this.targetSpeedDegPerSec = v;
}
/**
* Set continuous speed (-100% to 100% or absolute deg/s)
*/
public start(speedPercent: any = 50): void {
const clamped = resolveMotorSpeedInput(speedPercent, 50);
const degPerSec = (clamped / 100) * this.maxSpeedDegPerSec;
this.targetSpeedDegPerSec = degPerSec;
this.activeTarget = {
type: 'CONTINUOUS',
targetSpeedDegPerSec: degPerSec,
stopAction: 'BRAKE',
};
}
/**
* Run for specified degrees with callback on finish.
* Preserves speed direction: negative speed produces reverse rotation.
*/
public runForDegrees(degrees: number, speedPercent: any = 50, onComplete?: () => void): void {
const clampedSpeed = resolveMotorSpeedInput(speedPercent, 50);
// Check for near-zero or non-finite degrees / speed to prevent hanging
if (
!Number.isFinite(degrees) ||
Math.abs(degrees) < 1e-4 ||
Math.abs(clampedSpeed) < 1e-4
) {
this.targetSpeedDegPerSec = 0;
this.activeTarget = null;
if (onComplete) onComplete();
return;
}
const totalDir = (degrees >= 0 ? 1 : -1) * (clampedSpeed >= 0 ? 1 : -1);
const absDeg = Math.abs(degrees);
const speed = Math.abs((clampedSpeed / 100) * this.maxSpeedDegPerSec) * totalDir;
this.targetSpeedDegPerSec = speed;
this.activeTarget = {
type: 'DEGREES',
targetSpeedDegPerSec: speed,
remainingDegrees: absDeg,
stopAction: 'BRAKE',
onComplete,
};
}
/**
* Run for duration in seconds
*/
public runForTime(seconds: number, speedPercent: any = 50, onComplete?: () => void): void {
const clampedSpeed = resolveMotorSpeedInput(speedPercent, 50);
const speed = (clampedSpeed / 100) * this.maxSpeedDegPerSec;
const safeSeconds = Math.max(0, isNaN(seconds) || !Number.isFinite(seconds) ? 0 : seconds);
if (safeSeconds <= 0 || Math.abs(clampedSpeed) < 1e-4) {
this.targetSpeedDegPerSec = 0;
this.activeTarget = null;
if (onComplete) onComplete();
return;
}
this.targetSpeedDegPerSec = speed;
this.activeTarget = {
type: 'TIME',
targetSpeedDegPerSec: speed,
remainingSeconds: safeSeconds,
stopAction: 'BRAKE',
onComplete,
};
}
public stop(action: StopAction = 'BRAKE'): void {
this.stopAction = action;
const cb = this.activeTarget?.onComplete;
this.activeTarget = null;
this.targetSpeedDegPerSec = 0;
if (action !== 'COAST') {
this.velocityDegPerSec = 0;
}
if (cb) cb();
}
public resetDegrees(): void {
this.degrees = 0;
}
/**
* Physics step update (dt in seconds)
*/
public step(dt: number, actualAngularVelocityRadPerSec?: number): number {
if (actualAngularVelocityRadPerSec !== undefined) {
// Convert rad/s to deg/s
this.velocityDegPerSec = (actualAngularVelocityRadPerSec * 180) / Math.PI;
} else if (this.activeTarget) {
this.velocityDegPerSec = this.activeTarget.targetSpeedDegPerSec;
}
if (!this.activeTarget) {
if (this.stopAction === 'COAST') {
this.targetSpeedDegPerSec = 0;
this.velocityDegPerSec *= 0.95;
if (Math.abs(this.velocityDegPerSec) < 0.1) this.velocityDegPerSec = 0;
} else {
this.targetSpeedDegPerSec = 0;
this.velocityDegPerSec = 0;
}
return 0;
}
const { type, targetSpeedDegPerSec } = this.activeTarget;
this.targetSpeedDegPerSec = targetSpeedDegPerSec;
// Simulate movement
const stepDeltaDeg = Math.abs(targetSpeedDegPerSec * dt);
this.degrees += targetSpeedDegPerSec * dt;
if (type === 'DEGREES' && this.activeTarget.remainingDegrees !== undefined) {
this.activeTarget.remainingDegrees -= stepDeltaDeg;
if (this.activeTarget.remainingDegrees <= 0) {
this.stop(this.activeTarget.stopAction);
}
} else if (type === 'TIME' && this.activeTarget.remainingSeconds !== undefined) {
this.activeTarget.remainingSeconds -= dt;
if (this.activeTarget.remainingSeconds <= 0) {
this.stop(this.activeTarget.stopAction);
}
}
return this.targetSpeedDegPerSec;
}
}
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