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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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18
sim/state/motornode.ts
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@ -63,7 +63,8 @@ namespace pxsim {
delete this.speedCmd;
delete this.speedCmdValues;
delete this._synchedMotor;
}
this.setChangedState();
}
clearSyncCmd() {
if (this._synchedMotor)
@ -184,11 +185,13 @@ namespace pxsim {
case DAL.opOutputStepSync:
case DAL.opOutputTimeSync: {
const otherMotor = this._synchedMotor;
if (otherMotor.port < this.port) // handled in other motor code
break;
const speed = this.speedCmdValues[0];
const turnRatio = this.speedCmdValues[1];
// if turnratio is negative, right motor at power level
// right motor -> this.port > otherMotor.port
if (Math.sign(this.port - otherMotor.port)
== Math.sign(turnRatio))
break; // handled in other motor code
const stepsOrTime = this.speedCmdValues[2];
const brake = this.speedCmdValues[3];
const dstep = this.speedCmd == DAL.opOutputTimeSync
@ -204,12 +207,7 @@ namespace pxsim {
// turn ratio is a bit weird to interpret
// see https://communities.theiet.org/blogs/698/1706
if (turnRatio < 0) {
otherMotor.speed = speed;
this.speed *= (100 + turnRatio) / 100;
} else {
otherMotor.speed = this.speed * (100 - turnRatio) / 100;
}
otherMotor.speed = this.speed * (100 - Math.abs(turnRatio)) / 100;
// clamp
this.speed = Math.max(-100, Math.min(100, this.speed >> 0));