From a47a06ac194f0e3d28a3b19542270b0274b2c5e6 Mon Sep 17 00:00:00 2001
From: Peli de Halleux <pelikhan@users.noreply.github.com>
Date: Fri, 21 Aug 2020 06:06:59 +0200
Subject: [PATCH] Cooperate (#985)

* cooperate pause

* fix math

* update lastPause before pausing

* faster cooperation

Co-authored-by: Peli de Halleux <peli@DESKTOP-5B7QRAM.corp.microsoft.com>
---
 docs/coding/ignition.md |  2 --
 libs/core/cooperate.ts  | 11 +++++++++++
 libs/core/input.ts      |  3 +--
 libs/core/output.ts     | 10 +++++-----
 libs/core/pxt.json      |  3 ++-
 5 files changed, 19 insertions(+), 10 deletions(-)
 create mode 100644 libs/core/cooperate.ts

diff --git a/docs/coding/ignition.md b/docs/coding/ignition.md
index 298d3111..109ed42b 100644
--- a/docs/coding/ignition.md
+++ b/docs/coding/ignition.md
@@ -27,7 +27,6 @@ while (true) {
         music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
         music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
     }
-    pause(1);
 }
 ```
 
@@ -43,6 +42,5 @@ while (true) {
         music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
         music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
     }
-    pause(1);
 }
 ```
\ No newline at end of file
diff --git a/libs/core/cooperate.ts b/libs/core/cooperate.ts
new file mode 100644
index 00000000..850a3a92
--- /dev/null
+++ b/libs/core/cooperate.ts
@@ -0,0 +1,11 @@
+namespace control {
+    let lastPause = 0;
+    const COOPERATION_INTERVAL = 20
+    export function cooperate() {
+        const now = control.millis()
+        if (now - lastPause > COOPERATION_INTERVAL) {
+            lastPause = now
+            pause(1)
+        }
+    }
+}
\ No newline at end of file
diff --git a/libs/core/input.ts b/libs/core/input.ts
index c1f8d715..fa0d6af8 100644
--- a/libs/core/input.ts
+++ b/libs/core/input.ts
@@ -21,8 +21,7 @@ namespace sensors.internal {
             const now = control.millis();
             if (now - this.lastQuery >= this.interval * 2)
                 this.queryAndUpdate(); // sensor poller is not allowed to run
-            if (now - this.lastPause >= this.interval * 5)
-                pause(1); // allow events to trigger
+            control.cooperate(); // allow events to trigger
         }
 
         private queryAndUpdate() {
diff --git a/libs/core/output.ts b/libs/core/output.ts
index ea431c00..5cb2fede 100644
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@@ -124,7 +124,7 @@ namespace motors {
     export function stopAll() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
         writePWM(b);
-        pause(1);
+        control.cooperate();
     }
 
     /**
@@ -136,7 +136,7 @@ namespace motors {
     //% help=motors/reset-all
     export function resetAll() {
         reset(Output.ALL)
-        pause(1);
+        control.cooperate();
     }
 
     interface MoveSchedule {
@@ -269,7 +269,7 @@ namespace motors {
             if (this._brake && this._brakeSettleTime > 0)
                 pause(this._brakeSettleTime);
             else {
-                pause(1);
+                control.cooperate();
             }
         }
 
@@ -280,7 +280,7 @@ namespace motors {
                 // allow robot to settle
                 this.settle();
             } else {
-                pause(1);
+                control.cooperate();
             }
         }
 
@@ -357,7 +357,7 @@ namespace motors {
             // special: 0 is infinity
             if (schedule.steps[0] + schedule.steps[1] + schedule.steps[2] == 0) {
                 this._run(schedule.speed);
-                pause(1);
+                control.cooperate();
                 return;
             }
 
diff --git a/libs/core/pxt.json b/libs/core/pxt.json
index b392b009..fbb190d4 100644
--- a/libs/core/pxt.json
+++ b/libs/core/pxt.json
@@ -26,7 +26,8 @@
         "icons.jres",
         "ns.ts",
         "platform.h",
-        "integrator.ts"
+        "integrator.ts",
+        "cooperate.ts"
     ],
     "testFiles": [
         "test.ts"