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cherry-pick Cooperate (#985)

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* cooperate pause

* fix math

* update lastPause before pausing

* faster cooperation

Co-authored-by: Peli de Halleux <peli@DESKTOP-5B7QRAM.corp.microsoft.com>
This commit is contained in:
Peli de Halleux
2020-08-21 06:06:59 +02:00
committed by Peli de Halleux
parent 1db61720fc
commit f0821f8d6c
5 changed files with 19 additions and 10 deletions
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10
libs/core/output.ts
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@ -124,7 +124,7 @@ namespace motors {
export function stopAll() {
const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
writePWM(b);
pause(1);
control.cooperate();
}
/**
@ -136,7 +136,7 @@ namespace motors {
//% help=motors/reset-all
export function resetAll() {
reset(Output.ALL)
pause(1);
control.cooperate();
}
interface MoveSchedule {
@ -269,7 +269,7 @@ namespace motors {
if (this._brake && this._brakeSettleTime > 0)
pause(this._brakeSettleTime);
else {
pause(1);
control.cooperate();
}
}
@ -280,7 +280,7 @@ namespace motors {
// allow robot to settle
this.settle();
} else {
pause(1);
control.cooperate();
}
}
@ -357,7 +357,7 @@ namespace motors {
// special: 0 is infinity
if (schedule.steps[0] + schedule.steps[1] + schedule.steps[2] == 0) {
this._run(schedule.speed);
pause(1);
control.cooperate();
return;
}