0.3.4

package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.3.3",
+  "version": "0.3.4",
   "lockfileVersion": 1,
   "requires": true,
   "dependencies": {

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.3.3",
+  "version": "0.3.4",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [

sim/state/motornode.ts

@@ -150,7 +150,8 @@ namespace pxsim {
                         const step2 = this.speedCmdValues[2];
                         const step3 = this.speedCmdValues[3];
                         const brake = this.speedCmdValues[4];
-                        const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed)
+                        const isTimeCommand = this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed;
+                        const dstep = isTimeCommand
                             ? pxsim.U.now() - this.speedCmdTime
                             : this.tacho - this.speedCmdTacho;
                         if (dstep < step1) // rampup
@@ -161,6 +162,16 @@ namespace pxsim {
                             this.speed = speed * (step1 + step2 + step3 - dstep) / (step1 + step2 + step3);
                         else {
                             if (brake) this.speed = 0;
+                            if (!isTimeCommand) {
+                                // we need to patch the actual position of the motor when
+                                // finishing the move as our integration step introduce errors
+                                const deltaAngle = -Math.sign(speed) * (dstep - (step1 + step2 + step3));
+                                if (deltaAngle) {
+                                    this.angle += deltaAngle;
+                                    this.tacho -= Math.abs(deltaAngle);
+                                    this.setChangedState();
+                                }
+                            }
                             this.clearSpeedCmd();
                         }
                         break;