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more tweaking of angle encoding

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This commit is contained in:
Peli de Halleux 2017-12-19 17:15:53 -08:00
parent c989e2fdab
commit 7f5b8aed99
1 changed files with 4 additions and 3 deletions
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7
sim/state/motor.ts
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@ -16,18 +16,19 @@ namespace pxsim {
data, data,
beforeMemRead: () => { beforeMemRead: () => {
const outputs = ev3board().outputNodes; const outputs = ev3board().outputNodes;
console.log("motor before read"); // console.log("motor before read");
for (let port = 0; port < DAL.NUM_OUTPUTS; ++port) { for (let port = 0; port < DAL.NUM_OUTPUTS; ++port) {
const output = outputs[port]; const output = outputs[port];
const speed = output ? Math.round(outputs[port].getSpeed()) : 0; const speed = output ? Math.round(outputs[port].getSpeed()) : 0;
const angle = output ? Math.round(outputs[port].getAngle()) : 0; const angle = output ? Math.round(outputs[port].getAngle()) : 0;
const tci = MotorDataOff.TachoCounts + port * MotorDataOff.Size;
const tsi = MotorDataOff.TachoSensor + port * MotorDataOff.Size; const tsi = MotorDataOff.TachoSensor + port * MotorDataOff.Size;
data[MotorDataOff.TachoCounts + port * MotorDataOff.Size] = 0; // Tacho count data[tci] = data[tci + 1] = data[tci + 2] = data[tci + 3] = 0; // Tacho count
data[MotorDataOff.Speed + port * MotorDataOff.Size] = speed; // Speed data[MotorDataOff.Speed + port * MotorDataOff.Size] = speed; // Speed
data[tsi] = angle & 0xff; // Count data[tsi] = angle & 0xff; // Count
data[tsi + 1] = (angle >> 8) & 0xff; // Count data[tsi + 1] = (angle >> 8) & 0xff; // Count
data[tsi + 2] = (angle >> 16) & 0xff; // Count data[tsi + 2] = (angle >> 16) & 0xff; // Count
data[tsi + 3] = (angle >> 24) & 0xff; // Count data[tsi + 3] = (angle >> 24); // Count
} }
}, },
read: buf => { read: buf => {