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Output set Type fix (#487)

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* properly send outputsettype info

* fix simulator

* bump pxt

* typo in docs
This commit is contained in:
Peli de Halleux 2018-04-11 08:48:07 -06:00 committed by GitHub
parent 80989cf4c9
commit 4627328bcd
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 26 additions and 17 deletions
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32
libs/core/output.ts
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@ -298,6 +298,23 @@ namespace motors {
pauseUntilReady(timeOut?: number) {
pauseUntil(() => this.isReady(), timeOut);
}
protected setOutputType(large: boolean) {
/*
Instruction opOutput_Set_Type (LAYER, NO, TYPE)
Opcode 0xA1 Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
(Data8) NO – Port number [0 - 3]
(Data8) TYPE – Output device type, (0x07: Large motor, Medium motor = 0x08) Dispatch status Unchanged
Description This function enables specifying the output device type
*/
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (this._port & (1 << i)) {
const b = mkCmd(i, DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, large ? 0x07 : 0x08)
writePWM(b)
}
}
}
}
//% fixedInstances
@ -316,11 +333,8 @@ namespace motors {
motors.__motorUsed(this._port, this._large);
}
private __init() {
// specify motor size on this port
const b = mkCmd(outOffset(this._port), DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
writePWM(b)
private __init() {
this.setOutputType(this._large);
}
private __setSpeed(speed: number) {
@ -453,13 +467,7 @@ namespace motors {
}
private __init() {
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
writePWM(b)
}
}
this.setOutputType(true);
}
private __setSpeed(speed: number) {

2
libs/ultrasonic-sensor/docs/reference/sensors/ultrasonic/distance.md
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@ -18,7 +18,7 @@ The distance value returned is the number of centimeters to the object that the
When the ultrasonic sensor on port 4 detects a near object, display its distance on the screen.
```blocks
sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjecNear, function () {
sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjectNear, function () {
brick.showString("Object detected at:", 1)
brick.showNumber(sensors.ultrasonic4.distance(), 2)
brick.showString("centimeters", 3)

2
package.json
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@ -46,7 +46,7 @@
},
"dependencies": {
"pxt-common-packages": "0.20.38",
"pxt-core": "3.8.6"
"pxt-core": "3.8.8"
},
"scripts": {
"test": "node node_modules/pxt-core/built/pxt.js travis"

7
sim/state/output.ts
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@ -122,10 +122,11 @@ namespace pxsim {
return 2;
}
case DAL.opOutputSetType: {
const port = buf.data[1];
const portIndex = buf.data[1]; // not a port but a port index 0..3
const large = buf.data[2] == 0x07;
const motors = ev3board().getMotor(port);
motors.forEach(motor => motor.setLarge(large));
const motor = ev3board().getMotors()[portIndex];
if (motor)
motor.setLarge(large);
return 2;
}
default: