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encoding 32bit angle into data buffer

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This commit is contained in:
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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10
sim/state/motor.ts
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@ -19,9 +19,15 @@ namespace pxsim {
console.log("motor before read"); console.log("motor before read");
for (let port = 0; port < DAL.NUM_OUTPUTS; ++port) { for (let port = 0; port < DAL.NUM_OUTPUTS; ++port) {
const output = outputs[port]; const output = outputs[port];
const speed = output ? Math.round(outputs[port].getSpeed()) : 0;
const angle = output ? Math.round(outputs[port].getAngle()) : 0;
const tsi = MotorDataOff.TachoSensor + port * MotorDataOff.Size;
data[MotorDataOff.TachoCounts + port * MotorDataOff.Size] = 0; // Tacho count data[MotorDataOff.TachoCounts + port * MotorDataOff.Size] = 0; // Tacho count
data[MotorDataOff.Speed + port * MotorDataOff.Size] = output ? outputs[port].getSpeed() : 0; // Speed data[MotorDataOff.Speed + port * MotorDataOff.Size] = speed; // Speed
data[MotorDataOff.TachoSensor + port * MotorDataOff.Size] = output ? outputs[port].getAngle() : 0; // Count data[tsi] = angle & 0xff; // Count
data[tsi + 1] = (angle >> 8) & 0xff; // Count
data[tsi + 2] = (angle >> 16) & 0xff; // Count
data[tsi + 3] = (angle >> 24) & 0xff; // Count
} }
}, },
read: buf => { read: buf => {

4
sim/state/output.ts
View File

@ -37,7 +37,7 @@ namespace pxsim {
case DAL.opOutputStepSpeed: { case DAL.opOutputStepSpeed: {
// step speed // step speed
const port = buf.data[1]; 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 // note that b[3] is padding
const step1 = buf.data[4]; const step1 = buf.data[4];
const step2 = buf.data[5]; // angle const step2 = buf.data[5]; // angle
@ -59,7 +59,7 @@ namespace pxsim {
case DAL.opOutputSpeed: { case DAL.opOutputSpeed: {
// setSpeed // setSpeed
const port = buf.data[1]; const port = buf.data[1];
const speed = buf.data[2]; const speed = buf.data[2] << 24 >> 24; // signed byte
const motors = ev3board().getMotor(port); const motors = ev3board().getMotor(port);
motors.forEach(motor => motor.setSpeed(speed)); motors.forEach(motor => motor.setSpeed(speed));
return 2; return 2;

2
sim/visuals/board.ts
View File

@ -374,7 +374,7 @@ namespace pxsim.visuals {
now = Date.now(); now = Date.now();
delta = now - then; delta = now - then;
if (delta > interval) { if (delta > interval) {
then = now - (delta % interval); then = now;
that.updateStateStep(delta); that.updateStateStep(delta);
} }
} }