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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 _synchedMotor: MotorNode; // non-null if synchronized
private manualSpeed: number = 0;
constructor(port: number, large: boolean) {
super(port);
this.setLarge(large);
@ -97,15 +99,14 @@ namespace pxsim {
}
manualMotorDown() {
}
manualMotorMove(angle: number) {
manualMotorMove(speed: number) {
this.manualSpeed = speed;
}
manualMotorUp() {
this.manualSpeed = undefined;
}
updateState(elapsed: number) {
@ -121,6 +122,7 @@ namespace pxsim {
}
private updateStateStep(elapsed: number) {
if (!this.manualSpeed) {
// compute new speed
switch (this.speedCmd) {
case DAL.opOutputSpeed:
@ -194,6 +196,10 @@ namespace pxsim {
break;
}
}
}
else {
this.speed = this.manualSpeed;
}
this.speed = Math.round(this.speed); // integer only
// compute delta angle