From dfc9ca1db4f3ba8928e4682ba2031fe8b17901d3 Mon Sep 17 00:00:00 2001
From: Peli de Halleux <pelikhan@users.noreply.github.com>
Date: Fri, 21 Sep 2018 14:07:11 -0700
Subject: [PATCH] fxing leading / in docs

---
 docs/SUMMARY.md                               |  8 +++---
 libs/core/output.ts                           | 26 +++++++++++++++----
 .../docs/reference/sensors/ultrasonic.md      |  4 +--
 3 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/docs/SUMMARY.md b/docs/SUMMARY.md
index 46ed75cb..1ea2449f 100644
--- a/docs/SUMMARY.md
+++ b/docs/SUMMARY.md
@@ -82,12 +82,12 @@
             * [reset](/reference/sensors/gyro/reset)
         * [Ultrasonic](/reference/sensors/ultrasonic)
             * [on event](/reference/sensors/ultrasonic/on-event)
-            * [distance](reference/sensors/ultrasonic/distance)
-            * [pause until](reference/sensors/ultrasonic/pause-until)
+            * [distance](/reference/sensors/ultrasonic/distance)
+            * [pause until](/reference/sensors/ultrasonic/pause-until)
         * [Infrared](/reference/sensors/infrared)
             * [on event](/reference/sensors/infrared/on-event)
-            * [distance](reference/sensors/infrared/proximity)
-            * [pause until](reference/sensors/infrared/pause-until)
+            * [distance](/reference/sensors/infrared/proximity)
+            * [pause until](/reference/sensors/infrared/pause-until)
         * [Infrared beacon](/reference/sensors/beacon)
             * [on event](/reference/sensors/beacon/on-event)
             * [pause until](/reference/sensors/beacon/pause-until)
diff --git a/libs/core/output.ts b/libs/core/output.ts
index 3cf2b273..e3cd45c2 100644
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@@ -368,7 +368,8 @@ namespace motors {
         }
 
         private __move(steps: boolean, stepsOrTime: number, speed: number) {
-            step(this._port, {
+            control.dmesg("motor.__move")
+            const p = {
                 useSteps: steps,
                 step1: 0,
                 step2: stepsOrTime,
@@ -376,7 +377,10 @@ namespace motors {
                 speed: this._regulated ? speed : undefined,
                 power: this._regulated ? undefined : speed,
                 useBrake: this._brake
-            })
+            };
+            control.dmesg("motor.1")
+            step(this._port, p)
+            control.dmesg("motor.__move end")
         }
 
         /**
@@ -706,24 +710,36 @@ namespace motors {
     }
 
     function step(out: Output, opts: StepOptions) {
+        control.dmesg('step')
         let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed
         let speed = opts.speed
-        if (speed == null) {
+        if (undefined == speed) {
             speed = opts.power
             op = opts.useSteps ? DAL.opOutputStepPower : DAL.opOutputTimePower
-            if (speed == null)
+            if (undefined == speed)
                 return
         }
         speed = Math.clamp(-100, 100, speed)
+        control.dmesg('speed: ' + speed)
 
         let b = mkCmd(out, op, 15)
+        control.dmesg('STEP 5')
         b.setNumber(NumberFormat.Int8LE, 2, speed)
         // note that b[3] is padding
+        control.dmesg('STEP 1')
         b.setNumber(NumberFormat.Int32LE, 4 + 4 * 0, opts.step1)
+        control.dmesg('STEP 2')
         b.setNumber(NumberFormat.Int32LE, 4 + 4 * 1, opts.step2)
+        control.dmesg('STEP 3')
         b.setNumber(NumberFormat.Int32LE, 4 + 4 * 2, opts.step3)
-        b.setNumber(NumberFormat.Int8LE, 4 + 4 * 3, opts.useBrake ? 1 : 0)
+        control.dmesg('STEP 4')
+        control.dmesg('br ' + opts.useBrake);
+        const br = !!opts.useBrake ? 1 : 0;
+        control.dmesg('Step 4.5 ' + br)
+        b.setNumber(NumberFormat.Int8LE, 4 + 4 * 3, br)
+        control.dmesg('STEP 5')
         writePWM(b)
+        control.dmesg('end step')
     }
 
     const types = [0, 0, 0, 0]
diff --git a/libs/ultrasonic-sensor/docs/reference/sensors/ultrasonic.md b/libs/ultrasonic-sensor/docs/reference/sensors/ultrasonic.md
index 86462fb5..d6274e29 100644
--- a/libs/ultrasonic-sensor/docs/reference/sensors/ultrasonic.md
+++ b/libs/ultrasonic-sensor/docs/reference/sensors/ultrasonic.md
@@ -9,5 +9,5 @@ sensors.ultrasonic1.pauseUntil(UltrasonicSensorEvent.ObjectDetected);
 ## See Also
 
 [on event](/reference/sensors/ultrasonic/on-event),
-[distance](reference/sensors/ultrasonic/distance),
-[pause until](reference/sensors/ultrasonic/pause-until)
\ No newline at end of file
+[distance](/reference/sensors/ultrasonic/distance),
+[pause until](/reference/sensors/ultrasonic/pause-until)
\ No newline at end of file