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Snap backwards (#923)

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* snap to multiple of 5

* normalize negative values
This commit is contained in:
Peli de Halleux
2019-09-27 15:49:21 -07:00
committed by GitHub
parent 8047cb2612
commit e862869327
2 changed files with 25 additions and 6 deletions
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24
libs/core/output.ts
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@@ -301,9 +301,17 @@ namespace motors {
case MoveUnit.Rotations:
scale = 360;
r.useSteps = true;
if (r.steps[1] < 0) {
r.speed = -r.speed;
r.steps[1] = -r.steps[1];
}
break;
case MoveUnit.Degrees:
r.useSteps = true;
if (r.steps[1] < 0) {
r.speed = -r.speed;
r.steps[1] = -r.steps[1];
}
break;
case MoveUnit.Seconds:
scale = 1000;
@@ -416,28 +424,28 @@ namespace motors {
temp = Math.max(0, (value * 360) | 0);
if (phase == MovePhase.Acceleration)
this._accelerationSteps = temp;
else
else
this._decelerationSteps = temp;
break;
case MoveUnit.Degrees:
temp = Math.max(0, value | 0);
if (phase == MovePhase.Acceleration)
this._accelerationSteps = temp;
else
else
this._decelerationSteps = temp;
break;
case MoveUnit.Seconds:
temp = Math.max(0, (value * 1000) | 0);
if (phase == MovePhase.Acceleration)
this._accelerationTime = temp;
else
else
this._decelerationTime = temp;
break;
case MoveUnit.MilliSeconds:
temp = Math.max(0, value | 0);
if (phase == MovePhase.Acceleration)
this._accelerationTime = temp;
else
else
this._decelerationTime = temp;
break;
}
@@ -741,10 +749,18 @@ namespace motors {
let stepsOrTime: number;
switch (unit) {
case MoveUnit.Rotations:
if (value < 0) {
value = -value;
speed = -speed;
}
stepsOrTime = (value * 360) >> 0;
useSteps = true;
break;
case MoveUnit.Degrees:
if (value < 0) {
value = -value;
speed = -speed;
}
stepsOrTime = value >> 0;
useSteps = true;
break;