Snap backwards (#923)
* snap to multiple of 5 * normalize negative values
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@ -301,9 +301,17 @@ namespace motors {
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case MoveUnit.Rotations:
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scale = 360;
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r.useSteps = true;
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if (r.steps[1] < 0) {
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r.speed = -r.speed;
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r.steps[1] = -r.steps[1];
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}
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break;
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case MoveUnit.Degrees:
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r.useSteps = true;
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if (r.steps[1] < 0) {
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r.speed = -r.speed;
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r.steps[1] = -r.steps[1];
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}
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break;
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case MoveUnit.Seconds:
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scale = 1000;
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@ -416,28 +424,28 @@ namespace motors {
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temp = Math.max(0, (value * 360) | 0);
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if (phase == MovePhase.Acceleration)
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this._accelerationSteps = temp;
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else
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else
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this._decelerationSteps = temp;
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break;
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case MoveUnit.Degrees:
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temp = Math.max(0, value | 0);
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if (phase == MovePhase.Acceleration)
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this._accelerationSteps = temp;
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else
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else
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this._decelerationSteps = temp;
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break;
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case MoveUnit.Seconds:
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temp = Math.max(0, (value * 1000) | 0);
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if (phase == MovePhase.Acceleration)
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this._accelerationTime = temp;
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else
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else
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this._decelerationTime = temp;
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break;
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case MoveUnit.MilliSeconds:
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temp = Math.max(0, value | 0);
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if (phase == MovePhase.Acceleration)
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this._accelerationTime = temp;
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else
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else
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this._decelerationTime = temp;
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break;
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}
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@ -741,10 +749,18 @@ namespace motors {
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let stepsOrTime: number;
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switch (unit) {
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case MoveUnit.Rotations:
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if (value < 0) {
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value = -value;
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speed = -speed;
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}
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stepsOrTime = (value * 360) >> 0;
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useSteps = true;
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break;
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case MoveUnit.Degrees:
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if (value < 0) {
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value = -value;
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speed = -speed;
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}
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stepsOrTime = value >> 0;
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useSteps = true;
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break;
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