sync command working

libs/core/_locales/core-jsdoc-strings.json

@@ -63,6 +63,9 @@
   "motors.Motor.speed": "Gets motor actual speed.",
   "motors.Motor.stop": "Stops the motor",
   "motors.Motor.tachoCount": "Gets motor tacho count.",
+  "motors.setSyncSpeed": "Synchronizes this motor with another motor.",
+  "motors.setSyncSpeed|param|speed": "the power applied to the motor, eg: 50",
+  "motors.setSyncSpeed|param|turnRatio": "the ratio of the master power applied to this motor, eg: 100",
   "motors.stopAllMotors": "Stops all motors",
   "output.createBuffer": "Create a new zero-initialized buffer.",
   "output.createBuffer|param|size": "number of bytes in the buffer",

libs/core/_locales/core-strings.json

@@ -14,6 +14,7 @@
   "LightsPattern.Red|block": "Red",
   "Output.ALL|block": "All",
   "Output.A|block": "A",
+  "Output.BC|block": "B+C",
   "Output.B|block": "B",
   "Output.C|block": "C",
   "Output.D|block": "D",
@@ -51,6 +52,7 @@
   "motors.mediumMotorB|block": "medium B",
   "motors.mediumMotorC|block": "medium C",
   "motors.mediumMotorD|block": "medium D",
+  "motors.setSyncSpeed|block": "set sync speed B+C with %turnRatio|turn ratio at %speed|% speed",
   "motors.stopAllMotors|block": "stop all `icons.motorLarge`",
   "motors|block": "motors",
   "output|block": "output",

libs/core/output.ts

@@ -7,6 +7,8 @@ enum Output {
     C = 0x04,
     //% block="D"
     D = 0x08,
+    //% block="B+C"
+    BC = 0x06,
     //% block="All"
     ALL = 0x0f
 }
@@ -75,7 +77,7 @@ namespace motors {
 
     //% fixedInstances
     export class Motor extends control.Component {
-        public port: Output;
+        private port: Output;
         private large: boolean;
         private brake: boolean;
 
@@ -102,8 +104,7 @@ namespace motors {
             b.setNumber(NumberFormat.Int8LE, 2, speed)
             writePWM(b)
             if (speed) {
-                const b = mkCmd(this.port, DAL.opOutputStart, 0)
+                start(this.port);
-                writePWM(b);
             } else {
                 this.stop();
             }
@@ -241,6 +242,28 @@ namespace motors {
     //% whenUsed fixedInstance block="medium D"
     export const mediumMotorD = new Motor(Output.D, false);
 
+
+    /**
+     * Synchronizes this motor with another motor.
+     * @param motor the controlled motor, eg: motors.largeB
+     * @param other the motor that will control this motor, eg: motors.largeC
+     * @param turnRatio the ratio of the master power applied to this motor, eg: 100
+     * @param speed the power applied to the motor, eg: 50
+     */
+    //% blockId=motorSync block="set sync speed B+C with %turnRatio|turn ratio at %speed|% speed"
+    //% turnRatio.min=-200 turnRatio.max=200 
+    //% speed.min=-100 speed.max=100
+    export function setSyncSpeed(turnRatio: number, speed: number) {
+        syncMotors(Output.BC, {
+            useSteps: true,
+            speed: speed,
+            turnRatio: turnRatio,
+            stepsOrTime: 0,
+            useBrake: false
+        })
+        start(Output.BC);
+    }
+
     function reset(out: Output) {
         let b = mkCmd(out, DAL.opOutputReset, 0)
         writePWM(b)
@@ -303,6 +326,11 @@ namespace motors {
         useBrake?: boolean;
     }
 
+    function start(out: Output) {
+        const b = mkCmd(out, DAL.opOutputStart, 0)
+        writePWM(b);
+    }
+
     function step(out: Output, opts: StepOptions) {
         let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed
         let speed = opts.speed