From 361ae7a2d2d12b5ac1adc94d9411a74ed68c481e Mon Sep 17 00:00:00 2001
From: Peli de Halleux <pelikhan@users.noreply.github.com>
Date: Tue, 17 Sep 2019 11:23:40 -0700
Subject: [PATCH] adding a few pause to allow motors to settle

---
 libs/core/output.ts | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/libs/core/output.ts b/libs/core/output.ts
index 13bc7f02..984772c1 100644
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@@ -123,7 +123,8 @@ namespace motors {
     //% help=motors/stop-all
     export function stopAll() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
-        writePWM(b)
+        writePWM(b);
+        pause(1);
     }
 
     /**
@@ -132,6 +133,7 @@ namespace motors {
     //% group="Move"
     export function resetAllMotors() {
         reset(Output.ALL)
+        pause(1);
     }
 
     interface MoveSchedule {
@@ -259,6 +261,8 @@ namespace motors {
             // allow 500ms for robot to settle
             if (this._brake && this._brakeSettleTime > 0)
                 pause(this._brakeSettleTime);
+            else
+                pause(1); // give a tiny breather
         }
 
         protected pauseOnRun(stepsOrTime: number) {
@@ -337,6 +341,7 @@ namespace motors {
             // special: 0 is infinity
             if (schedule.steps[0] + schedule.steps[1] + schedule.steps[2] == 0) {
                 this._run(schedule.speed);
+                pause(1);
                 return;
             }
 
@@ -700,7 +705,7 @@ namespace motors {
             this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) {
-                stop(this._port, this._brake);
+                this.stop();
                 return;
             }