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Merge pull request #105 from Microsoft/motorfixes

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Motor fixes
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Sam El-Husseini 2017-12-18 00:54:53 -08:00 committed by GitHub
commit 8bf6f265f7
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 11 additions and 6 deletions
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15
libs/core/output.ts
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@ -144,7 +144,7 @@ namespace motors {
setReversed(reversed: boolean) { setReversed(reversed: boolean) {
this.__init(); this.__init();
const b = mkCmd(this._port, DAL.opOutputPolarity, 1) const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1); b.setNumber(NumberFormat.Int8LE, 2, reversed ? 0 : 1);
writePWM(b) writePWM(b)
} }
@ -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)
} }
@ -352,9 +352,13 @@ 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) {
b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor if (this._port & (1 << i)) {
writePWM(b) const b = mkCmd(outOffset(1 << i), DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor
writePWM(b)
}
}
} }
} }
@ -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);