Added hardStopMotor to motor controls

DOCS.md

@@ -100,6 +100,7 @@ Emits when a Powered UP Hub device is found.
     * [.setLEDRGB(red, green, blue)](#WeDo2SmartHub+setLEDRGB) ⇒ <code>Promise</code>
     * [.setMotorSpeed(port, speed, [time])](#WeDo2SmartHub+setMotorSpeed) ⇒ <code>Promise</code>
     * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#WeDo2SmartHub+rampMotorSpeed) ⇒ <code>Promise</code>
+    * [.hardStopMotor(port)](#WeDo2SmartHub+hardStopMotor) ⇒ <code>Promise</code>
     * [.playTone(frequency, time)](#WeDo2SmartHub+playTone) ⇒ <code>Promise</code>
     * [.setLightBrightness(port, brightness, [time])](#WeDo2SmartHub+setLightBrightness) ⇒ <code>Promise</code>
     * [.connect()](#Hub+connect) ⇒ <code>Promise</code>
@@ -234,6 +235,18 @@ Ramp the motor speed on a given port.
 | toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
 | time | <code>number</code> | How long the ramp should last (in milliseconds). |
 
+<a name="WeDo2SmartHub+hardStopMotor"></a>
+
+### weDo2SmartHub.hardStopMotor(port) ⇒ <code>Promise</code>
+Fully (hard) stop the motor on a given port.
+
+**Kind**: instance method of [<code>WeDo2SmartHub</code>](#WeDo2SmartHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type |
+| --- | --- |
+| port | <code>string</code> | 
+
 <a name="WeDo2SmartHub+playTone"></a>
 
 ### weDo2SmartHub.playTone(frequency, time) ⇒ <code>Promise</code>
@@ -446,6 +459,7 @@ Emits when an attached motor or sensor is detached from the Hub.
     * [.setMotorSpeed(port, speed, [time])](#BoostMoveHub+setMotorSpeed) ⇒ <code>Promise</code>
     * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#BoostMoveHub+rampMotorSpeed) ⇒ <code>Promise</code>
     * [.setMotorAngle(port, angle, [speed])](#BoostMoveHub+setMotorAngle) ⇒ <code>Promise</code>
+    * [.hardStopMotor(port)](#BoostMoveHub+hardStopMotor) ⇒ <code>Promise</code>
     * [.setLightBrightness(port, brightness, [time])](#BoostMoveHub+setLightBrightness) ⇒ <code>Promise</code>
     * [.setName(name)](#LPF2Hub+setName) ⇒ <code>Promise</code>
     * [.setLEDColor(color)](#LPF2Hub+setLEDColor) ⇒ <code>Promise</code>
@@ -574,6 +588,18 @@ Rotate a motor by a given angle.
 | angle | <code>number</code> |  | How much the motor should be rotated (in degrees). |
 | [speed] | <code>number</code> \| <code>Array.&lt;number&gt;</code> | <code>100</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds. |
 
+<a name="BoostMoveHub+hardStopMotor"></a>
+
+### boostMoveHub.hardStopMotor(port) ⇒ <code>Promise</code>
+Fully (hard) stop the motor on a given port.
+
+**Kind**: instance method of [<code>BoostMoveHub</code>](#BoostMoveHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type |
+| --- | --- |
+| port | <code>string</code> | 
+
 <a name="BoostMoveHub+setLightBrightness"></a>
 
 ### boostMoveHub.setLightBrightness(port, brightness, [time]) ⇒ <code>Promise</code>
@@ -832,6 +858,7 @@ Emits when an attached motor or sensor is detached from the Hub.
     * [.batteryLevel](#Hub+batteryLevel)
     * [.setMotorSpeed(port, speed, [time])](#PUPHub+setMotorSpeed) ⇒ <code>Promise</code>
     * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#PUPHub+rampMotorSpeed) ⇒ <code>Promise</code>
+    * [.hardStopMotor(port)](#PUPHub+hardStopMotor) ⇒ <code>Promise</code>
     * [.setLightBrightness(port, brightness, [time])](#PUPHub+setLightBrightness) ⇒ <code>Promise</code>
     * [.setName(name)](#LPF2Hub+setName) ⇒ <code>Promise</code>
     * [.setLEDColor(color)](#LPF2Hub+setLEDColor) ⇒ <code>Promise</code>
@@ -945,6 +972,18 @@ Ramp the motor speed on a given port.
 | toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
 | time | <code>number</code> | How long the ramp should last (in milliseconds). |
 
+<a name="PUPHub+hardStopMotor"></a>
+
+### pupHub.hardStopMotor(port) ⇒ <code>Promise</code>
+Fully (hard) stop the motor on a given port.
+
+**Kind**: instance method of [<code>PUPHub</code>](#PUPHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type |
+| --- | --- |
+| port | <code>string</code> | 
+
 <a name="PUPHub+setLightBrightness"></a>
 
 ### pupHub.setLightBrightness(port, brightness, [time]) ⇒ <code>Promise</code>
@@ -1439,8 +1478,9 @@ A combined color and distance event, emits when the sensor is activated.
     * [.batteryLevel](#Hub+batteryLevel)
     * [.setLEDColor(color)](#DuploTrainBase+setLEDColor) ⇒ <code>Promise</code>
     * [.setMotorSpeed(port, speed, [time])](#DuploTrainBase+setMotorSpeed) ⇒ <code>Promise</code>
-    * [.playSound(sound)](#DuploTrainBase+playSound) ⇒ <code>Promise</code>
     * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#DuploTrainBase+rampMotorSpeed) ⇒ <code>Promise</code>
+    * [.hardStopMotor(port)](#DuploTrainBase+hardStopMotor) ⇒ <code>Promise</code>
+    * [.playSound(sound)](#DuploTrainBase+playSound) ⇒ <code>Promise</code>
     * [.setName(name)](#LPF2Hub+setName) ⇒ <code>Promise</code>
     * [.setLEDRGB(red, green, blue)](#LPF2Hub+setLEDRGB) ⇒ <code>Promise</code>
     * [.connect()](#Hub+connect) ⇒ <code>Promise</code>
@@ -1546,18 +1586,6 @@ Set the motor speed on a given port.
 | speed | <code>number</code> \| <code>Array.&lt;number&gt;</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds. |
 | [time] | <code>number</code> | How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely. |
 
-<a name="DuploTrainBase+playSound"></a>
-
-### duploTrainBase.playSound(sound) ⇒ <code>Promise</code>
-Play a built-in train sound.
-
-**Kind**: instance method of [<code>DuploTrainBase</code>](#DuploTrainBase)  
-**Returns**: <code>Promise</code> - Resolved upon successful issuance of command.  
-
-| Param | Type |
-| --- | --- |
-| sound | [<code>DuploTrainBaseSound</code>](#DuploTrainBaseSound) | 
-
 <a name="DuploTrainBase+rampMotorSpeed"></a>
 
 ### duploTrainBase.rampMotorSpeed(port, fromSpeed, toSpeed, time) ⇒ <code>Promise</code>
@@ -1573,6 +1601,30 @@ Ramp the motor speed on a given port.
 | toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
 | time | <code>number</code> | How long the ramp should last (in milliseconds). |
 
+<a name="DuploTrainBase+hardStopMotor"></a>
+
+### duploTrainBase.hardStopMotor(port) ⇒ <code>Promise</code>
+Fully (hard) stop the motor on a given port.
+
+**Kind**: instance method of [<code>DuploTrainBase</code>](#DuploTrainBase)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type |
+| --- | --- |
+| port | <code>string</code> | 
+
+<a name="DuploTrainBase+playSound"></a>
+
+### duploTrainBase.playSound(sound) ⇒ <code>Promise</code>
+Play a built-in train sound.
+
+**Kind**: instance method of [<code>DuploTrainBase</code>](#DuploTrainBase)  
+**Returns**: <code>Promise</code> - Resolved upon successful issuance of command.  
+
+| Param | Type |
+| --- | --- |
+| sound | [<code>DuploTrainBaseSound</code>](#DuploTrainBaseSound) | 
+
 <a name="LPF2Hub+setName"></a>
 
 ### duploTrainBase.setName(name) ⇒ <code>Promise</code>

README.md

@@ -193,6 +193,7 @@ Emits when a Powered UP Hub device is found.
     * [.setLEDRGB(red, green, blue)](#WeDo2SmartHub+setLEDRGB) ⇒ <code>Promise</code>
     * [.setMotorSpeed(port, speed, [time])](#WeDo2SmartHub+setMotorSpeed) ⇒ <code>Promise</code>
     * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#WeDo2SmartHub+rampMotorSpeed) ⇒ <code>Promise</code>
+    * [.hardStopMotor(port)](#WeDo2SmartHub+hardStopMotor) ⇒ <code>Promise</code>
     * [.playTone(frequency, time)](#WeDo2SmartHub+playTone) ⇒ <code>Promise</code>
     * [.setLightBrightness(port, brightness, [time])](#WeDo2SmartHub+setLightBrightness) ⇒ <code>Promise</code>
     * [.connect()](#Hub+connect) ⇒ <code>Promise</code>
@@ -327,6 +328,18 @@ Ramp the motor speed on a given port.
 | toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
 | time | <code>number</code> | How long the ramp should last (in milliseconds). |
 
+<a name="WeDo2SmartHub+hardStopMotor"></a>
+
+### weDo2SmartHub.hardStopMotor(port) ⇒ <code>Promise</code>
+Fully (hard) stop the motor on a given port.
+
+**Kind**: instance method of [<code>WeDo2SmartHub</code>](#WeDo2SmartHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type |
+| --- | --- |
+| port | <code>string</code> | 
+
 <a name="WeDo2SmartHub+playTone"></a>
 
 ### weDo2SmartHub.playTone(frequency, time) ⇒ <code>Promise</code>
@@ -539,6 +552,7 @@ Emits when an attached motor or sensor is detached from the Hub.
     * [.setMotorSpeed(port, speed, [time])](#BoostMoveHub+setMotorSpeed) ⇒ <code>Promise</code>
     * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#BoostMoveHub+rampMotorSpeed) ⇒ <code>Promise</code>
     * [.setMotorAngle(port, angle, [speed])](#BoostMoveHub+setMotorAngle) ⇒ <code>Promise</code>
+    * [.hardStopMotor(port)](#BoostMoveHub+hardStopMotor) ⇒ <code>Promise</code>
     * [.setLightBrightness(port, brightness, [time])](#BoostMoveHub+setLightBrightness) ⇒ <code>Promise</code>
     * [.setName(name)](#LPF2Hub+setName) ⇒ <code>Promise</code>
     * [.setLEDColor(color)](#LPF2Hub+setLEDColor) ⇒ <code>Promise</code>
@@ -667,6 +681,18 @@ Rotate a motor by a given angle.
 | angle | <code>number</code> |  | How much the motor should be rotated (in degrees). |
 | [speed] | <code>number</code> \| <code>Array.&lt;number&gt;</code> | <code>100</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds. |
 
+<a name="BoostMoveHub+hardStopMotor"></a>
+
+### boostMoveHub.hardStopMotor(port) ⇒ <code>Promise</code>
+Fully (hard) stop the motor on a given port.
+
+**Kind**: instance method of [<code>BoostMoveHub</code>](#BoostMoveHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type |
+| --- | --- |
+| port | <code>string</code> | 
+
 <a name="BoostMoveHub+setLightBrightness"></a>
 
 ### boostMoveHub.setLightBrightness(port, brightness, [time]) ⇒ <code>Promise</code>
@@ -925,6 +951,7 @@ Emits when an attached motor or sensor is detached from the Hub.
     * [.batteryLevel](#Hub+batteryLevel)
     * [.setMotorSpeed(port, speed, [time])](#PUPHub+setMotorSpeed) ⇒ <code>Promise</code>
     * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#PUPHub+rampMotorSpeed) ⇒ <code>Promise</code>
+    * [.hardStopMotor(port)](#PUPHub+hardStopMotor) ⇒ <code>Promise</code>
     * [.setLightBrightness(port, brightness, [time])](#PUPHub+setLightBrightness) ⇒ <code>Promise</code>
     * [.setName(name)](#LPF2Hub+setName) ⇒ <code>Promise</code>
     * [.setLEDColor(color)](#LPF2Hub+setLEDColor) ⇒ <code>Promise</code>
@@ -1038,6 +1065,18 @@ Ramp the motor speed on a given port.
 | toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
 | time | <code>number</code> | How long the ramp should last (in milliseconds). |
 
+<a name="PUPHub+hardStopMotor"></a>
+
+### pupHub.hardStopMotor(port) ⇒ <code>Promise</code>
+Fully (hard) stop the motor on a given port.
+
+**Kind**: instance method of [<code>PUPHub</code>](#PUPHub)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type |
+| --- | --- |
+| port | <code>string</code> | 
+
 <a name="PUPHub+setLightBrightness"></a>
 
 ### pupHub.setLightBrightness(port, brightness, [time]) ⇒ <code>Promise</code>
@@ -1532,8 +1571,9 @@ A combined color and distance event, emits when the sensor is activated.
     * [.batteryLevel](#Hub+batteryLevel)
     * [.setLEDColor(color)](#DuploTrainBase+setLEDColor) ⇒ <code>Promise</code>
     * [.setMotorSpeed(port, speed, [time])](#DuploTrainBase+setMotorSpeed) ⇒ <code>Promise</code>
-    * [.playSound(sound)](#DuploTrainBase+playSound) ⇒ <code>Promise</code>
     * [.rampMotorSpeed(port, fromSpeed, toSpeed, time)](#DuploTrainBase+rampMotorSpeed) ⇒ <code>Promise</code>
+    * [.hardStopMotor(port)](#DuploTrainBase+hardStopMotor) ⇒ <code>Promise</code>
+    * [.playSound(sound)](#DuploTrainBase+playSound) ⇒ <code>Promise</code>
     * [.setName(name)](#LPF2Hub+setName) ⇒ <code>Promise</code>
     * [.setLEDRGB(red, green, blue)](#LPF2Hub+setLEDRGB) ⇒ <code>Promise</code>
     * [.connect()](#Hub+connect) ⇒ <code>Promise</code>
@@ -1639,18 +1679,6 @@ Set the motor speed on a given port.
 | speed | <code>number</code> \| <code>Array.&lt;number&gt;</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds. |
 | [time] | <code>number</code> | How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely. |
 
-<a name="DuploTrainBase+playSound"></a>
-
-### duploTrainBase.playSound(sound) ⇒ <code>Promise</code>
-Play a built-in train sound.
-
-**Kind**: instance method of [<code>DuploTrainBase</code>](#DuploTrainBase)  
-**Returns**: <code>Promise</code> - Resolved upon successful issuance of command.  
-
-| Param | Type |
-| --- | --- |
-| sound | [<code>DuploTrainBaseSound</code>](#DuploTrainBaseSound) | 
-
 <a name="DuploTrainBase+rampMotorSpeed"></a>
 
 ### duploTrainBase.rampMotorSpeed(port, fromSpeed, toSpeed, time) ⇒ <code>Promise</code>
@@ -1666,6 +1694,30 @@ Ramp the motor speed on a given port.
 | toSpeed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
 | time | <code>number</code> | How long the ramp should last (in milliseconds). |
 
+<a name="DuploTrainBase+hardStopMotor"></a>
+
+### duploTrainBase.hardStopMotor(port) ⇒ <code>Promise</code>
+Fully (hard) stop the motor on a given port.
+
+**Kind**: instance method of [<code>DuploTrainBase</code>](#DuploTrainBase)  
+**Returns**: <code>Promise</code> - Resolved upon successful completion of command.  
+
+| Param | Type |
+| --- | --- |
+| port | <code>string</code> | 
+
+<a name="DuploTrainBase+playSound"></a>
+
+### duploTrainBase.playSound(sound) ⇒ <code>Promise</code>
+Play a built-in train sound.
+
+**Kind**: instance method of [<code>DuploTrainBase</code>](#DuploTrainBase)  
+**Returns**: <code>Promise</code> - Resolved upon successful issuance of command.  
+
+| Param | Type |
+| --- | --- |
+| sound | [<code>DuploTrainBaseSound</code>](#DuploTrainBaseSound) | 
+
 <a name="LPF2Hub+setName"></a>
 
 ### duploTrainBase.setName(name) ⇒ <code>Promise</code>

src/boostmovehub.ts

@@ -192,6 +192,17 @@ export class BoostMoveHub extends LPF2Hub {
     }
 
 
+    /**
+     * Fully (hard) stop the motor on a given port.
+     * @method BoostMoveHub#hardStopMotor
+     * @param {string} port
+     * @returns {Promise} Resolved upon successful completion of command.
+     */
+    public hardStopMotor (port: string) {
+        return this.setMotorSpeed(port, 127);
+    }
+
+
     /**
      * Set the light brightness on a given port.
      * @method BoostMoveHub#setLightBrightness

src/duplotrainbase.ts

@@ -135,21 +135,6 @@ export class DuploTrainBase extends LPF2Hub {
     }
 
 
-    /**
-     * Play a built-in train sound.
-     * @method DuploTrainBase#playSound
-     * @param {DuploTrainBaseSound} sound
-     * @returns {Promise} Resolved upon successful issuance of command.
-     */
-    public playSound (sound: number) {
-        return new Promise((resolve, reject) => {
-            const data = Buffer.from([0x81, 0x01, 0x11, 0x51, 0x01, sound]);
-            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
-            return resolve();
-        });
-    }
-
-
     /**
      * Ramp the motor speed on a given port.
      * @method DuploTrainBase#rampMotorSpeed
@@ -172,4 +157,30 @@ export class DuploTrainBase extends LPF2Hub {
     }
 
 
+    /**
+     * Fully (hard) stop the motor on a given port.
+     * @method DuploTrainBase#hardStopMotor
+     * @param {string} port
+     * @returns {Promise} Resolved upon successful completion of command.
+     */
+    public hardStopMotor (port: string) {
+        return this.setMotorSpeed(port, 127);
+    }
+
+
+    /**
+     * Play a built-in train sound.
+     * @method DuploTrainBase#playSound
+     * @param {DuploTrainBaseSound} sound
+     * @returns {Promise} Resolved upon successful issuance of command.
+     */
+    public playSound (sound: number) {
+        return new Promise((resolve, reject) => {
+            const data = Buffer.from([0x81, 0x01, 0x11, 0x51, 0x01, sound]);
+            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+            return resolve();
+        });
+    }
+
+
 }

src/hub.ts

@@ -313,21 +313,18 @@ export class Hub extends EventEmitter {
         if (!this.useSpeedMap) {
             return speed;
         }
-        if (speed > 0) {
+
-            if (speed > 100) {
+        if (speed === 127) {
-                speed = 100;
+            return 127; // Hard stop
-            }
-            return speed;
-            // return Math.round((speed - 1) * (97 - 15) / (100 - 1) + 15); // Forward, minimum speed is 15, maximum speed is 97
-        } else if (speed < 0) {
-            if (speed < -100) {
-                speed = -100;
-            }
-            return speed;
-            // return Math.round((speed - -100) * (240 - 158) / (-1 - -100) + 158); // In reverse, minimum speed is 240, maximum speed is 158
-        } else {
-            return 0;
         }
+
+        if (speed > 100) {
+            speed = 100;
+        } else if (speed < -100) {
+            speed = -100;
+        }
+
+        return speed;
     }
 
 

src/puphub.ts

@@ -146,6 +146,17 @@ export class PUPHub extends LPF2Hub {
     }
 
 
+    /**
+     * Fully (hard) stop the motor on a given port.
+     * @method PUPHub#hardStopMotor
+     * @param {string} port
+     * @returns {Promise} Resolved upon successful completion of command.
+     */
+    public hardStopMotor (port: string) {
+        return this.setMotorSpeed(port, 127);
+    }
+
+
     /**
      * Set the light brightness on a given port.
      * @method PUPHub#setLightBrightness

src/wedo2smarthub.ts

@@ -180,6 +180,17 @@ export class WeDo2SmartHub extends Hub {
     }
 
 
+    /**
+     * Fully (hard) stop the motor on a given port.
+     * @method WeDo2SmartHub#hardStopMotor
+     * @param {string} port
+     * @returns {Promise} Resolved upon successful completion of command.
+     */
+    public hardStopMotor (port: string) {
+        return this.setMotorSpeed(port, 127);
+    }
+
+
     /**
      * Play a tone on the Hub's in-built buzzer
      * @method WeDo2SmartHub#playTone