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Motor sync support in simulator (#159)

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* parse sync motor command

* better sim support

* sync support

* fixing tank
This commit is contained in:
Peli de Halleux
2018-01-02 16:20:00 -08:00
committed by GitHub
parent 1bc93013e6
commit c35dbdd38f
6 changed files with 4758 additions and 19 deletions
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19
sim/state/output.ts
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@ -56,6 +56,25 @@ namespace pxsim {
motors.forEach(motor => motor.setSpeedCmd(cmd, [speed, step1, step2, step3, brake]));
return 2;
}
case DAL.opOutputStepSync:
case DAL.opOutputTimeSync: {
const port = buf.data[1];
const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte
// note that b[3] is padding
const turnRatio = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int16LE, 4);
// b[6], b[7] is padding
const stepsOrTime = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8);
const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 12);
const motors = ev3board().getMotor(port);
for (const motor of motors) {
const otherMotor = motors.filter(m => m.port != motor.port)[0];
motor.setSyncCmd(
motor.port < otherMotor.port ? otherMotor : undefined,
cmd, [speed, turnRatio, stepsOrTime, brake]);
}
return 2;
}
case DAL.opOutputStop: {
// stop
const port = buf.data[1];