ESC: deprecate speed(percent), introduce throttle(us).

- Eliminates "history" memory leak - Deprecates speed() - Introduces throttle(us)
rwaldron · Aug 11, 2019 · 0d5ca14 · 0d5ca14
1 parent b3c5df9
commit 0d5ca14
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Showing 2 changed files with 86 additions and 291 deletions.
diff --git a/lib/esc.js b/lib/esc.js
@@ -16,7 +16,7 @@ var Controllers = {
         var state = priv.get(this);
 
         this.address = opts.address || 0x40;
-        this.pwmRange = opts.pwmRange || [544, 2400];
+        this.pwmRange = opts.pwmRange || [1000, 2000];
         this.frequency = opts.frequency || 50;
 
         state.expander = Expander.get({
@@ -32,9 +32,9 @@ var Controllers = {
     },
     write: {
       writable: true,
-      value: function(pin, microseconds) {
+      value: function(pin, us) {
         var state = priv.get(this);
-        state.expander.servoWrite(pin, microseconds);
+        state.expander.servoWrite(pin, us);
       }
     }
   },
@@ -56,20 +56,19 @@ var Controllers = {
     },
     write: {
       writable: true,
-      value: function(pin, microseconds) {
-        microseconds |= 0;
-        this.io.servoWrite(pin, microseconds);
+      value: function(pin, us) {
+        this.io.servoWrite(pin, us | 0);
       }
     }
   }
 };
 
+
 var Devices = {
   FORWARD: {
     deviceName: {
-      get: function() {
-        return "FORWARD";
-      }
+      value: "FORWARD",
+      writable: false,
     },
     dir: {
       value: function(speed, dir) {
@@ -81,9 +80,8 @@ var Devices = {
   },
   FORWARD_REVERSE: {
     deviceName: {
-      get: function() {
-        return "FORWARD_REVERSE";
-      }
+      value: "FORWARD_REVERSE",
+      writable: false,
     },
     dir: {
       value: function(speed, dir) {
@@ -97,9 +95,8 @@ var Devices = {
   },
   FORWARD_BRAKE_REVERSE: {
     deviceName: {
-      get: function() {
-        return "FORWARD_BRAKE_REVERSE";
-      }
+      value: "FORWARD_BRAKE_REVERSE",
+      writable: false,
     },
     dir: {
       value: function(speed, dir) {
@@ -140,14 +137,7 @@ function ESC(opts) {
   var pinValue;
   var device;
   var state = {
-    // All speed history for this ESC
-    // history = [
-    //   {
-    //     timestamp: Date.now(),
-    //     speed: speed
-    //   }
-    // ];
-    history: [],
+    last: { speed: null },
     value: 0
   };
 
@@ -157,12 +147,19 @@ function ESC(opts) {
 
   priv.set(this, state);
 
-  this.startAt = typeof opts.startAt !== "undefined" ? opts.startAt : null;
-  this.neutral = opts.neutral;
   this.range = opts.range || [0, 100];
-  this.pwmRange = opts.pwmRange || [544, 2400];
+  this.pwmRange = opts.pwmRange || [1000, 2000];
+  this.neutral = opts.neutral || this.pwmRange[0];
   this.interval = null;
 
+  // Scale to pwm range
+  if (typeof this.neutral !== "undefined" && this.neutral <= 100) {
+    this.neutral = Fn.scale(this.neutral, 0, 100, this.pwmRange[0], this.pwmRange[1]);
+  }
+
+  // Enforce pwm range on neutral point
+  this.neutral = Fn.constrain(this.neutral, this.pwmRange[0], this.pwmRange[1]);
+
   // StandardFirmata on Arduino allows controlling
   // servos from analog pins.
   // If we're currently operating with an Arduino
@@ -209,34 +206,22 @@ function ESC(opts) {
         return state.value;
       }
     },
-    history: {
-      get: function() {
-        return state.history.slice(-5);
-      }
-    },
     last: {
       get: function() {
-        return state.history[state.history.length - 1] || {
-          last: null
-        };
+        return state.last;
       }
     }
   }));
 
   this.initialize(opts);
 
   if (this.deviceName !== "FORWARD") {
-    if (Number.isNaN(+this.neutral)) {
-      throw new Error("Directional speed controllers require a neutral point from 0-100 (number)");
+    if (this.neutral === this.pwmRange[0]) {
+      throw new Error("Bidirectional speed controllers require a non-zero neutral point");
     }
-
-    this.startAt = this.neutral;
   }
 
-  // Match either null or undefined, but not 0
-  if (this.startAt !== null && this.startAt !== undefined) {
-    this.speed(this.startAt);
-  }
+  this.throttle(this.neutral);
 }
 
 util.inherits(ESC, Emitter);
@@ -249,11 +234,11 @@ util.inherits(ESC, Emitter);
  * @param  {Float} speed 0...100 (full range)
  *
  * @return {ESC} instance
+ * @deprecated Will be deleted in version 1.0.0. Use throttle(us) instead.
  */
-
-ESC.prototype.speed = function(speed) {
+/* istanbul ignore next */
+ESC.prototype.speed = util.deprecate(function(speed) {
   var state = priv.get(this);
-  var history = state.history;
   var noInterval = false;
   var steps = 0;
   var lspeed, hspeed;
@@ -263,7 +248,7 @@ ESC.prototype.speed = function(speed) {
   if (this.interval) {
     // Bail out if speed is the same as whatever was
     // last _provided_
-    if (this.value === speed) {
+    if (state.value === speed) {
       return this;
     } else {
       clearInterval(this.interval);
@@ -276,18 +261,18 @@ ESC.prototype.speed = function(speed) {
   // This is the very first speed command being received.
   // Safe to assume that the ESC and Brushless motor are
   // not yet moving.
-  if (history.length === 0) {
+  if (state.last.speed === null) {
     noInterval = true;
+    state.last.speed = this.neutral;
+  } else {
+    // Bail out if speed is the same as whatever was
+    // last _written_
+    if (state.last.speed === speed) {
+      return this;
+    }
   }
 
-  // Bail out if speed is the same as whatever was
-  // last _written_
-
-  if (this.last.speed === speed) {
-    return this;
-  }
-
-  lspeed = this.last.speed;
+  lspeed = state.last.speed;
   hspeed = speed;
   steps = Math.ceil(Math.abs(lspeed - hspeed));
 
@@ -298,10 +283,7 @@ ESC.prototype.speed = function(speed) {
   if (noInterval) {
     this.write(this.pin, Fn.fscale(speed, 0, 100, this.pwmRange[0], this.pwmRange[1]));
 
-    history.push({
-      timestamp: Date.now(),
-      speed: speed
-    });
+    state.last.speed = speed;
     return this;
   }
 
@@ -317,10 +299,7 @@ ESC.prototype.speed = function(speed) {
 
     this.write(this.pin, Fn.fscale(throttle, 0, 100, this.pwmRange[0], this.pwmRange[1]));
 
-    history.push({
-      timestamp: Date.now(),
-      speed: throttle
-    });
+    state.last.speed = throttle;
 
     if (steps) {
       steps--;
@@ -333,24 +312,29 @@ ESC.prototype.speed = function(speed) {
   }.bind(this), 1);
 
   return this;
-};
+}, "ESC.prototype.speed: Use `throttle(μs)` (544-2400μs) instead");
+
 
+/**
+ * throttle
+ *
+ * Throttle the ESC's speed by setting the pulse
+ *
+ * @param  {Integer} throttle pwmRange[0]...pwmRange[1] (full usec range)
+ *
+ * @return {ESC} instance
+ */
+ESC.prototype.throttle = function(pulse) {
+  this.write(this.pin, Fn.constrain(pulse, this.pwmRange[0], this.pwmRange[1]));
+  return this;
+};
 
 /**
  * brake Stop the ESC by hitting the brakes ;)
  * @return {Object} instance
  */
 ESC.prototype.brake = function() {
-  var state = priv.get(this);
-  var speed = this.neutral || 0;
-
-  this.speed(speed);
-
-  state.history.push({
-    timestamp: Date.now(),
-    speed: speed
-  });
-
+  this.write(this.pin, this.neutral);
   return this;
 };
 
@@ -394,17 +378,7 @@ ESC.prototype.brake = function() {
  * @return {Object} instance
  */
 ESC.prototype.stop = function() {
-  var state = priv.get(this);
-  var history = state.history;
-  var speed = this.type === "bidirectional" ? this.neutral : 0;
-
-  this.write(this.pin, Fn.fscale(speed, 0, 100, this.pwmRange[0], this.pwmRange[1]));
-
-  history.push({
-    timestamp: Date.now(),
-    speed: speed
-  });
-
+  this.write(this.pin, this.neutral);
   return this;
 };
 
@@ -428,32 +402,6 @@ function ESCs(numsOrObjects) {
 
 util.inherits(ESCs, Collection);
 
-/**
- *
- * ESCs, speed(0-100%)
- *
- * set all escs to the specified speed from 0-100%
- *
- * eg. array.min();
-
- * ESCs, min()
- *
- * set all escs to the minimum throttle
- *
- * eg. array.min();
-
- * ESCs, max()
- *
- * set all escs to the maximum throttle
- *
- * eg. array.max();
-
- * ESCs, stop()
- *
- * stop all escs
- *
- * eg. array.stop();
- */
 
 Collection.installMethodForwarding(
   ESCs.prototype, ESC.prototype