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Tank fixes (#892)

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* fixing turnration computation

* updated tank computation

* fix rendering glitch

* restore tank computation

* rounding errors
This commit is contained in:
Peli de Halleux
2019-08-30 05:40:51 -07:00
committed by GitHub
parent 0de8a84de2
commit 277c9903bb
5 changed files with 106 additions and 16 deletions
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10
libs/core/output.ts
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@ -339,7 +339,7 @@ namespace motors {
}
protected setOutputType(large: boolean) {
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (this._port & (1 << i)) {
// (0x07: Large motor, Medium motor = 0x08)
MotorBase.output_types[i] = large ? 0x07 : 0x08;
@ -561,10 +561,12 @@ namespace motors {
speedRight = Math.clamp(-100, 100, speedRight >> 0);
const speed = Math.abs(speedLeft) > Math.abs(speedRight) ? speedLeft : speedRight;
const turnRatio = speedLeft == speed
? (100 - speedRight / speedLeft * 100)
: (speedLeft / speedRight * 100 - 100);
let turnRatio = speedLeft == speed
? speedLeft == 0 ? 0 : (100 - speedRight / speedLeft * 100)
: speedRight == 0 ? 0 : (speedLeft / speedRight * 100 - 100);
turnRatio = Math.floor(turnRatio);
//control.dmesg(`tank ${speedLeft} ${speedRight} => ${turnRatio} ${speed}`)
this.steer(turnRatio, speed, value, unit);
}