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Merge pull request #87 from Microsoft/motor_fix_2

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Motor data fix
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Peli de Halleux 2017-12-13 15:56:17 -08:00 committed by GitHub
commit 14f57f54bf
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1 changed files with 2 additions and 0 deletions
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libs/core/output.ts
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@ -34,6 +34,7 @@ namespace motors {
pwmMM = control.mmap("/dev/lms_pwm", 0, 0) pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
if (!pwmMM) control.fail("no PWM file") if (!pwmMM) control.fail("no PWM file")
motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0) motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
if (!motorMM) control.fail("no motor file")
resetMotors() resetMotors()
@ -262,6 +263,7 @@ namespace motors {
// only a single output at a time // only a single output at a time
function getMotorData(out: Output): MotorData { function getMotorData(out: Output): MotorData {
init()
let buf = motorMM.slice(outOffset(out), MotorDataOff.Size) let buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
return { return {
actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed), actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),