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properly setting multiple-motor options

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Peli de Halleux 2017-12-17 23:00:07 -08:00
parent 6836852122
commit 367b1b0d1a
1 changed files with 9 additions and 4 deletions
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9
libs/core/output.ts
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@ -242,7 +242,7 @@ namespace motors {
if (!this._initialized) { if (!this._initialized) {
this._initialized = true; this._initialized = true;
// specify motor size on this port // specify motor size on this port
const b = mkCmd(this._port, DAL.opOutputSetType, 1) const b = mkCmd(outOffset(this._port), DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08) b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
writePWM(b) writePWM(b)
} }
@ -352,11 +352,15 @@ namespace motors {
protected __init() { protected __init() {
if (!this._initialized) { if (!this._initialized) {
this._initialized = true; this._initialized = true;
const b = mkCmd(this._port, DAL.opOutputSetType, 1) for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (this._port & (1 << i)) {
const b = mkCmd(outOffset(1 << i), DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor
writePWM(b) writePWM(b)
} }
} }
}
}
protected __setSpeed(speed: number) { protected __setSpeed(speed: number) {
syncMotors(this._port, { syncMotors(this._port, {
@ -389,6 +393,7 @@ namespace motors {
//% inlineInputMode=inline //% inlineInputMode=inline
//% group="Chassis" //% group="Chassis"
steer(steering: number, speed: number, value: number, unit: MoveUnit) { steer(steering: number, speed: number, value: number, unit: MoveUnit) {
this.__init();
speed = Math.clamp(-100, 100, speed >> 0); speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) { if (!speed) {
stop(this._port, this._brake); stop(this._port, this._brake);