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encoding 32bit angle into data buffer

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Peli de Halleux
2017-12-19 16:54:44 -08:00
parent 7123bfecd3
commit 9cca35d49f
3 changed files with 11 additions and 5 deletions
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4
sim/state/output.ts
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@ -37,7 +37,7 @@ namespace pxsim {
case DAL.opOutputStepSpeed: {
// step speed
const port = buf.data[1];
const speed = buf.data[2];
const speed = buf.data[2] << 24 >> 24; // signed byte
// note that b[3] is padding
const step1 = buf.data[4];
const step2 = buf.data[5]; // angle
@ -59,7 +59,7 @@ namespace pxsim {
case DAL.opOutputSpeed: {
// setSpeed
const port = buf.data[1];
const speed = buf.data[2];
const speed = buf.data[2] << 24 >> 24; // signed byte
const motors = ev3board().getMotor(port);
motors.forEach(motor => motor.setSpeed(speed));
return 2;