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appliying manual speed

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This commit is contained in:
Peli de Halleux 2018-01-10 14:08:50 -08:00
parent e93e659e8a
commit 0dd5ab9bde
1 changed files with 78 additions and 72 deletions
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14
sim/state/motornode.ts
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@ -17,6 +17,8 @@ namespace pxsim {
private speedCmdTime: number; private speedCmdTime: number;
private _synchedMotor: MotorNode; // non-null if synchronized private _synchedMotor: MotorNode; // non-null if synchronized
private manualSpeed: number = 0;
constructor(port: number, large: boolean) { constructor(port: number, large: boolean) {
super(port); super(port);
this.setLarge(large); this.setLarge(large);
@ -97,15 +99,14 @@ namespace pxsim {
} }
manualMotorDown() { manualMotorDown() {
} }
manualMotorMove(angle: number) { manualMotorMove(speed: number) {
this.manualSpeed = speed;
} }
manualMotorUp() { manualMotorUp() {
this.manualSpeed = undefined;
} }
updateState(elapsed: number) { updateState(elapsed: number) {
@ -121,6 +122,7 @@ namespace pxsim {
} }
private updateStateStep(elapsed: number) { private updateStateStep(elapsed: number) {
if (!this.manualSpeed) {
// compute new speed // compute new speed
switch (this.speedCmd) { switch (this.speedCmd) {
case DAL.opOutputSpeed: case DAL.opOutputSpeed:
@ -194,6 +196,10 @@ namespace pxsim {
break; break;
} }
} }
}
else {
this.speed = this.manualSpeed;
}
this.speed = Math.round(this.speed); // integer only this.speed = Math.round(this.speed); // integer only
// compute delta angle // compute delta angle