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fixing isReady query on motors (#197)

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This commit is contained in:
Peli de Halleux
2018-01-06 00:00:04 -08:00
committed by GitHub
parent 77fb64043d
commit 9ae6482f28
3 changed files with 40 additions and 15 deletions
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12
libs/core/output.ts
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@ -270,13 +270,7 @@ namespace motors {
const buf = mkCmd(this._port, DAL.opOutputTest, 2);
readPWM(buf)
const flags = buf.getNumber(NumberFormat.UInt8LE, 2);
// TODO: FIX with ~ support
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
const flag = 1 << i;
if ((this._port & flag) && (flags & flag))
return false;
}
return true;
return (~flags & this._port) == this._port;
}
/**
@ -448,7 +442,7 @@ namespace motors {
private __setSpeed(speed: number) {
syncMotors(this._port, {
speed: speed,
turnRatio: 100, // same speed
turnRatio: 0, // same speed
useBrake: !!this._brake
})
}
@ -457,7 +451,7 @@ namespace motors {
syncMotors(this._port, {
useSteps: steps,
speed: speed,
turnRatio: 100, // same speed
turnRatio: 0, // same speed
stepsOrTime: stepsOrTime,
useBrake: this._brake
});