From 7e58b9b6992192436756f9864b87fcfc69ac4f61 Mon Sep 17 00:00:00 2001
From: Peli de Halleux <pelikhan@users.noreply.github.com>
Date: Wed, 2 May 2018 22:04:29 -0700
Subject: [PATCH] Motor angle (#559)

* control angle with slider

* called changed state

* remove logging
---
 sim/state/motornode.ts              | 24 +++++++++++++++++-------
 sim/visuals/controls/motorSlider.ts | 29 ++++++++++-------------------
 2 files changed, 27 insertions(+), 26 deletions(-)

diff --git a/sim/state/motornode.ts b/sim/state/motornode.ts
index 7a939f33..d7ac70a4 100644
--- a/sim/state/motornode.ts
+++ b/sim/state/motornode.ts
@@ -17,7 +17,8 @@ namespace pxsim {
         private speedCmdTime: number;
         private _synchedMotor: MotorNode; // non-null if synchronized
 
-        private manualSpeed: number = undefined;
+        private manualReferenceAngle: number = undefined;
+        private manualAngle: number = undefined;
 
         constructor(port: number, large: boolean) {
             super(port);
@@ -103,14 +104,18 @@ namespace pxsim {
         }
 
         manualMotorDown() {
+            this.manualReferenceAngle = this.angle;
+            this.manualAngle = 0;
         }
 
-        manualMotorMove(speed: number) {
-            this.manualSpeed = speed;
+        // position: 0, 360
+        manualMotorAngle(angle: number) {
+            this.manualAngle = angle;
         }
 
         manualMotorUp() {
-            this.manualSpeed = undefined;
+            delete this.manualReferenceAngle;
+            delete this.manualAngle;
         }
 
         updateState(elapsed: number) {
@@ -126,7 +131,7 @@ namespace pxsim {
         }
 
         private updateStateStep(elapsed: number) {
-            if (!this.manualSpeed) {
+            if (this.manualAngle === undefined) {
                 // compute new speed
                 switch (this.speedCmd) {
                     case DAL.opOutputSpeed:
@@ -202,7 +207,11 @@ namespace pxsim {
                 }
             }
             else {
-                this.speed = this.manualSpeed;
+                // the user is holding the handle - so position is the angle
+                this.speed = 0;
+                // rotate by the desired angle change
+                this.angle = this.manualReferenceAngle + this.manualAngle;
+                this.setChangedState();
             }
             this.speed = Math.round(this.speed); // integer only
 
@@ -217,7 +226,8 @@ namespace pxsim {
 
             // if the motor was stopped or there are no speed commands,
             // let it coast to speed 0
-            if (this.speed && !(this.started || this.speedCmd)) {
+            if ((this.manualReferenceAngle === undefined)
+                && this.speed && !(this.started || this.speedCmd)) {
                 // decay speed 5% per tick
                 this.speed = Math.round(Math.max(0, Math.abs(this.speed) - 10) * sign(this.speed));
             }
diff --git a/sim/visuals/controls/motorSlider.ts b/sim/visuals/controls/motorSlider.ts
index d94cabb5..85394bbd 100644
--- a/sim/visuals/controls/motorSlider.ts
+++ b/sim/visuals/controls/motorSlider.ts
@@ -13,7 +13,7 @@ namespace pxsim.visuals {
 
         private static SLIDER_RADIUS = 100;
 
-        private internalSpeed: number = 0;
+        private internalAngle: number = 0;
 
         getInnerView(parent: SVGSVGElement, globalDefs: SVGDefsElement) {
             this.group = svg.elt("g") as SVGGElement;
@@ -102,9 +102,9 @@ namespace pxsim.visuals {
             } else if (dx >= 0 && dy <= 0) {
                 deg = 90 - deg;
             }
-            const value = Math.abs(Math.ceil((deg % 360) / 360 * this.getMax()));
+            const value = Math.abs(Math.ceil((deg % 360)));
 
-            this.internalSpeed = value;
+            this.internalAngle = value;
             this.updateDial();
 
             this.prevVal = deg;
@@ -119,7 +119,7 @@ namespace pxsim.visuals {
         private handleSliderMove() {
             this.dial.setAttribute('cursor', '-webkit-grabbing');
             const state = this.state;
-            state.manualMotorMove(this.internalSpeed);
+            state.manualMotorAngle(this.internalAngle);
         }
 
         private handleSliderUp() {
@@ -127,19 +127,18 @@ namespace pxsim.visuals {
             const state = this.state;
             state.manualMotorUp();
 
-            this.internalSpeed = 0;
+            this.internalAngle = 0;
             this.updateDial();
         }
 
         private updateDial() {
-            let speed = this.internalSpeed;
+            let angle = this.internalAngle;
 
             // Update dial position
-            const deg = speed / this.getMax() * 360; // degrees
             const radius = MotorSliderControl.SLIDER_RADIUS;
             const dialRadius = 5;
-            const x = Math.ceil((radius - dialRadius) * Math.sin(deg * Math.PI / 180)) + radius;
-            const y = Math.ceil((radius - dialRadius) * -Math.cos(deg * Math.PI / 180)) + radius;
+            const x = Math.ceil((radius - dialRadius) * Math.sin(angle * Math.PI / 180)) + radius;
+            const y = Math.ceil((radius - dialRadius) * -Math.cos(angle * Math.PI / 180)) + radius;
             this.dial.setAttribute('transform', `translate(${x}, ${y})`);
         }
 
@@ -148,18 +147,10 @@ namespace pxsim.visuals {
                 return;
             }
             const node = this.state;
-            const speed = node.getSpeed();
+            const angle = node.getAngle() % 360;
 
             // Update reporter
-            this.reporter.textContent = `${speed}`;
-        }
-
-        private getMin() {
-            return 0;
-        }
-
-        private getMax() {
-            return 100;
+            this.reporter.textContent = `${angle}°`;
         }
     }