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Call setOutputType with the right arguments (#828)

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* Call setOutputType with the right arguments
This commit is contained in:
Sam El-Husseini 2018-12-03 16:37:53 -08:00 committed by GitHub
parent 2e0a34c99b
commit b71bfef418
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 18 additions and 23 deletions
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41
libs/core/output.ts
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@ -138,6 +138,8 @@ namespace motors {
private _run: (speed: number) => void;
private _move: (steps: boolean, stepsOrTime: number, speed: number) => void;
protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];
constructor(port: Output, init: () => void, run: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
super();
this._port = port;
@ -321,20 +323,25 @@ namespace motors {
}
protected setOutputType(large: boolean) {
/*
Instruction opOutput_Set_Type (LAYER, NO, TYPE)
Opcode 0xA1 Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
(Data8) NO – Port number [0 - 3]
(Data8) TYPE – Output device type, (0x07: Large motor, Medium motor = 0x08) Dispatch status Unchanged
Description This function enables specifying the output device type
*/
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (this._port & (1 << i)) {
const b = mkCmd(i, DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, large ? 0x07 : 0x08)
writePWM(b)
// (0x07: Large motor, Medium motor = 0x08)
MotorBase.output_types[i] = large ? 0x07 : 0x08;
}
}
MotorBase.setTypes();
}
// Note, we are having to create our own buffer here as mkCmd creates a buffer with a command
// In the case of opOutputSetType, it expects the arguments to be opOutputSetType [type0, type1, type2, type3]
static setTypes() {
const b = output.createBuffer(5)
b.setNumber(NumberFormat.UInt8LE, 0, DAL.opOutputSetType)
b.setNumber(NumberFormat.Int8LE, 1, MotorBase.output_types[0]);
b.setNumber(NumberFormat.Int8LE, 2, MotorBase.output_types[1]);
b.setNumber(NumberFormat.Int8LE, 3, MotorBase.output_types[2]);
b.setNumber(NumberFormat.Int8LE, 4, MotorBase.output_types[3]);
writePWM(b)
}
}
@ -741,18 +748,6 @@ namespace motors {
writePWM(b)
control.dmesg('end step')
}
const types = [0, 0, 0, 0]
export function setType(out: Output, type: OutputType) {
let b = mkCmd(out, DAL.opOutputSetType, 3)
for (let i = 0; i < 4; ++i) {
if (out & (1 << i)) {
types[i] = type
}
b.setNumber(NumberFormat.UInt8LE, i + 1, types[i])
}
writePWM(b)
}
}