Issue #1656: Add speed limit for txt motor control

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/txt4/diff_drive.txt

@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [DIFFERENTIALDRIVE, DIFFERENTIALDRIVE], UsedActor [NO PORT, ENCODERMOTOR], UsedActor [NO PORT, DIFFERENTIALDRIVE], UsedActor [_D, ENCODERMOTOR], UsedActor [_D, DIFFERENTIALDRIVE]]
 Methods: 
-[DIFFDRIVETURNDEGREES, DIFFERENTIALDRIVE, DIFFERENTIALDRIVECURVE, DIFFERENTIALDRIVEDISTANCE, MOTORSTART]
+[DIFFDRIVETURNDEGREES, DIFFERENTIALDRIVE, DIFFERENTIALDRIVECURVE, DIFFERENTIALDRIVEDISTANCE, MOTORSTART, SPEEDTOPWM]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/txt4/motor.txt

@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [M1, ENCODERMOTOR], UsedActor [M2, ENCODERMOTOR], UsedActor [ML, ENCODERMOTOR], UsedActor [MR, ENCODERMOTOR], UsedActor [S, SERVOMOTOR]]
 Methods: 
-[MOTORSTART, MOTORSTARTFOR]
+[MOTORSTART, MOTORSTARTFOR, SPEEDTOPWM]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/txt4/omni_drive.txt

@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [OMNIDRIVE, OMNIDRIVE], UsedActor [_O, ENCODERMOTOR], UsedActor [_O, OMNIDRIVE], UsedActor [no port, ENCODERMOTOR], UsedActor [no port, OMNIDRIVE]]
 Methods: 
-[MOTORSTART, OMNIDRIVECURVE, OMNIDRIVECURVEDISTANCE, OMNIDRIVESTRAIGHTDISTANCE, OMNIDRIVETURNDEGREES]
+[MOTORSTART, OMNIDRIVECURVE, OMNIDRIVECURVEDISTANCE, OMNIDRIVESTRAIGHTDISTANCE, OMNIDRIVETURNDEGREES, SPEEDTOPWM]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/txt4/sensor.txt

@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [DISPLAY, DISPLAY], UsedActor [M1, ENCODERMOTOR], UsedActor [M2, ENCODERMOTOR]]
 Methods: 
-[MOTORSTART]
+[MOTORSTART, SPEEDTOPWM]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/diff_drive.py

@@ -28,7 +28,7 @@ def diffdrive_turn_degrees(speed, degrees):
     if degrees < 0:
         speed = -speed
         degrees = abs(degrees)
-    speed = int((speed / 100) * 512)
+    speed = speed_to_pwm(speed)
     arc_length = math.radians(degrees) * (TRACK_WIDTH / 2)
     rotations = arc_length / (WHEEL_DIAMETER * math.pi)
     steps_per_wheel = int(rotations * STEPS_PER_ROTATION)
@@ -43,7 +43,7 @@ def diffdrive_turn_degrees(speed, degrees):
     left_motor.stop_sync(right_motor)
 
 def diffdrive(speed):
-    speed = int((speed / 100) * 512)
+    speed = speed_to_pwm(speed)
     left_motor.set_speed(speed, Motor.CCW)
     right_motor.set_speed(speed, Motor.CCW)
     left_motor.start_sync(right_motor)
@@ -71,9 +71,13 @@ def diffdrive_distance(distance, speed_l, speed_r):
         time.sleep(0.010)
 
 def motor_start(motor, speed):
-    motor.set_speed(int((speed / 100) * 512), Motor.CCW)
+    motor.set_speed(speed_to_pwm(speed), Motor.CCW)
     motor.start()
 
+def speed_to_pwm(speed):
+    speed = max(min(speed, 100), -100)
+    return int((speed / 100) * 512)
+
 def run():
     print("Driving Forwards")
     diffdrive(30)

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/motor.py

@@ -28,19 +28,23 @@
 
 
 def motor_start(motor, speed):
-    motor.set_speed(int((speed / 100) * 512), Motor.CCW)
+    motor.set_speed(speed_to_pwm(speed), Motor.CCW)
     motor.start()
 
 def motor_start_for(motor, speed, degrees):
     steps = int((degrees / 360) * STEPS_PER_ROTATION)
-    motor.set_speed(int((speed / 100) * 512), Motor.CCW)
+    motor.set_speed(speed_to_pwm(speed), Motor.CCW)
     motor.set_distance(steps)
     while True:
         if not motor.is_running():
             break
         time.sleep(0.010)
     motor.stop()
 
+def speed_to_pwm(speed):
+    speed = max(min(speed, 100), -100)
+    return int((speed / 100) * 512)
+
 def run():
     print("Moving Motors")
     print("M1 Motor for 2 seconds")

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/omni_drive.py

@@ -34,7 +34,7 @@
 
 
 def motor_start(motor, speed):
-    motor.set_speed(int((speed / 100) * 512), Motor.CCW)
+    motor.set_speed(speed_to_pwm(speed), Motor.CCW)
     motor.start()
 
 def omnidrive_curve(speed_fl, speed_fr, speed_rl, speed_rr):
@@ -69,10 +69,10 @@ def omnidrive_straight_distance(distance, speed_fl, speed_fr, speed_rl, speed_rr
     constant = WHEEL_DIAMETER / (2 * 4)
     distance_per_wheel = distance / constant / 4
     steps_per_wheel = int(distance_per_wheel / (2 * math.pi) * STEPS_PER_ROTATION)
-    front_left_motor.set_speed(int((direction * speed_fl / 100) * 512), Motor.CCW)
-    front_right_motor.set_speed(int((direction * speed_fr / 100) * 512), Motor.CCW)
-    rear_left_motor.set_speed(int((direction * speed_rl / 100) * 512), Motor.CCW)
-    rear_right_motor.set_speed(int((direction * speed_rr / 100) * 512), Motor.CCW)
+    front_left_motor.set_speed(speed_to_pwm(direction * speed_fl), Motor.CCW)
+    front_right_motor.set_speed(speed_to_pwm(direction * speed_fr), Motor.CCW)
+    rear_left_motor.set_speed(speed_to_pwm(direction * speed_rl), Motor.CCW)
+    rear_right_motor.set_speed(speed_to_pwm(direction * speed_rr), Motor.CCW)
     front_left_motor.set_distance(steps_per_wheel, front_right_motor, rear_left_motor, rear_right_motor)
     while True:
         if (not front_left_motor.is_running()
@@ -87,7 +87,7 @@ def omnidrive_turn_degrees(speed, degrees):
     if degrees < 0:
         speed = -speed
         degrees = abs(degrees)
-    speed = int((speed / 100) * 512)
+    speed = speed_to_pwm(speed)
     rotations = (WHEEL_DIAMETER * math.pi * degrees) / (360 * TRACK_WIDTH)
     steps_per_wheel = int(rotations * STEPS_PER_ROTATION)
 
@@ -105,6 +105,10 @@ def omnidrive_turn_degrees(speed, degrees):
         time.sleep(0.010)
     front_left_motor.stop_sync(front_right_motor, rear_left_motor, rear_right_motor)
 
+def speed_to_pwm(speed):
+    speed = max(min(speed, 100), -100)
+    return int((speed / 100) * 512)
+
 def run():
     print("Driving Forwards")
     omnidrive_curve(30, 30, 30, 30)

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/sensor.py

@@ -31,9 +31,13 @@
 _timer5 = time.time()
 
 def motor_start(motor, speed):
-    motor.set_speed(int((speed / 100) * 512), Motor.CCW)
+    motor.set_speed(speed_to_pwm(speed), Motor.CCW)
     motor.start()
 
+def speed_to_pwm(speed):
+    speed = max(min(speed, 100), -100)
+    return int((speed / 100) * 512)
+
 def run():
     global _timer1, _timer2, _timer3, _timer4, _timer5
     while not(TXT_M_I3_ultrasonic_distance_meter):