Output set Type fix (#487)

* properly send outputsettype info

* fix simulator

* bump pxt

* typo in docs

libs/core/output.ts

@@ -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
@@ -317,10 +334,7 @@ namespace motors {
         }
 
         private __init() {            
-            // specify motor size on this port            
+            this.setOutputType(this._large);
-            const b = mkCmd(outOffset(this._port), DAL.opOutputSetType, 1)
-            b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
-            writePWM(b)
         }
 
         private __setSpeed(speed: number) {
@@ -453,13 +467,7 @@ namespace motors {
         }
 
         private __init() {
-            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+            this.setOutputType(true);
-                if (this._port & (1 << i)) {
-                    const b = mkCmd(outOffset(1 << i), DAL.opOutputSetType, 1)
-                    b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor
-                    writePWM(b)
-                }
-            }
         }
 
         private __setSpeed(speed: number) {

libs/ultrasonic-sensor/docs/reference/sensors/ultrasonic/distance.md

@@ -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)

package.json

@@ -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"

sim/state/output.ts

@@ -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);
+                            const motor = ev3board().getMotors()[portIndex];
-                            motors.forEach(motor => motor.setLarge(large));
+                            if (motor)
+                                motor.setLarge(large);
                             return 2;
                         }
                         default: