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Minor refactor fix (#102)

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* Minor fix to a refactor of motor output this.brake to this._brake

* No (_this) in global context

* Minor fix
This commit is contained in:
Sam El-Husseini 2017-12-17 21:12:18 -08:00 committed by Peli de Halleux
parent 539cf3d73e
commit 944098b9f9
1 changed files with 5 additions and 5 deletions
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10
libs/core/output.ts
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@ -200,7 +200,7 @@ namespace motors {
*/ */
private stop() { private stop() {
this.__init(); this.__init();
stop(this._port); stop(this._port, this._brake);
} }
/** /**
@ -340,7 +340,7 @@ namespace motors {
setSpeed(speed: number) { setSpeed(speed: number) {
speed = Math.clamp(speed >> 0, -100, 100); speed = Math.clamp(speed >> 0, -100, 100);
if (!speed) { if (!speed) {
stop(this._ports); stop(this._ports, this._brake);
return; return;
} }
syncMotors(this._ports, { syncMotors(this._ports, {
@ -377,7 +377,7 @@ namespace motors {
moveSteering(steering: number, speed: number, value: number, unit: MoveUnit) { moveSteering(steering: number, speed: number, value: number, unit: MoveUnit) {
speed = Math.clamp(-100, 100, speed >> 0); speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) { if (!speed) {
stop(this._ports); stop(this._ports, this._brake);
return; return;
} }
@ -513,9 +513,9 @@ namespace motors {
writePWM(b); writePWM(b);
} }
function stop(out: Output) { function stop(out: Output, brake: boolean) {
const b = mkCmd(out, DAL.opOutputStop, 1) const b = mkCmd(out, DAL.opOutputStop, 1)
b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0) b.setNumber(NumberFormat.UInt8LE, 2, brake ? 1 : 0)
writePWM(b); writePWM(b);
} }