c_meyer/pxt-ev3
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Motorworks2 (#141)

Browse Source 
* fixing polarity

* allocate motor on motorUsed only

* perform sub-step integration step for better precision
This commit is contained in:
Peli de Halleux
2017-12-28 09:07:57 -08:00
committed by GitHub
parent a9a9a89811
commit 01f7fe633c
5 changed files with 55 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
sim/dalboard.ts
View File

@ -115,12 +115,29 @@ namespace pxsim {
return this.brickNode;
}
motorUsed(port:number, large: boolean) {
for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
const p = 1 << i;
if (port & p) {
const motorPort = this.motorMap[p];
if (!this.outputNodes[motorPort])
this.outputNodes[motorPort] = new MotorNode(motorPort, large);
}
}
}
getMotor(port: number, large?: boolean): MotorNode[] {
if (port == 0xFF) return this.getMotors(); // Return all motors
const motorPort = this.motorMap[port];
if (!this.outputNodes[motorPort])
this.outputNodes[motorPort] = new MotorNode(motorPort, large);
return [this.outputNodes[motorPort]];
const r = [];
for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
const p = 1 << i;
if (port & p) {
const motorPort = this.motorMap[p];
const outputNode = this.outputNodes[motorPort];
if (outputNode)
r.push(outputNode);
}
}
return r;
}
getMotors() {