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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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21
sim/state/motornode.ts
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@ -22,6 +22,10 @@ namespace pxsim {
this.setLarge(large);
}
isReady() {
return !this.speedCmd;
}
getSpeed() {
return this.speed * (this.polarity == 0 ? -1 : 1);
}
@ -154,8 +158,21 @@ namespace pxsim {
if (brake) this.speed = 0;
this.clearSpeedCmd();
}
// send synched motor state
otherMotor.speed = Math.floor(this.speed * turnRatio / 100);
// turn ratio is a bit weird to interpret
// see https://communities.theiet.org/blogs/698/1706
if (turnRatio < 0) {
otherMotor.speed = speed;
this.speed *= (100 + turnRatio) / 100;
} else {
otherMotor.speed = this.speed * (100 - turnRatio) / 100;
}
// clamp
this.speed = Math.max(-100, Math.min(100, this.speed >> 0));
otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));;
// stop other motor if needed
if (!this._synchedMotor)
otherMotor.clearSpeedCmd();
break;