From 26f2c925b83fa86260e34c0e3acea667fd0711b5 Mon Sep 17 00:00:00 2001
From: Nathan Kunicki <nathank@mediamolecule.com>
Date: Wed, 13 Jun 2018 16:12:43 +0100
Subject: [PATCH] Rotating motors by angle

---
 boosthub.js | 21 ++++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/boosthub.js b/boosthub.js
index 098e760..8183ba3 100644
--- a/boosthub.js
+++ b/boosthub.js
@@ -43,14 +43,25 @@ class BoostHub extends Hub {
     }
 
 
-    setMotorSpeed (port, speed, seconds) {
+    setMotorSpeed (port, speed, time) {
         const characteristic = this._characteristics[Consts.BLE.Characteristics.Boost.ALL];
         if (characteristic) {
-            /*const data = Buffer.from([0x0c, 0x00, 0x81, this.ports[port].value, 0x11, 0x09, 0xff, 0xff, speed, 0x64, 0x7f, 0x03]);
-            if (seconds) {
-                data.writeUInt16LE(seconds * 1000, 6);
-            }*/
             const data = Buffer.from([0x0c, 0x00, 0x81, this.ports[port].value, 0x11, 0x01, 0x00, 0x00, speed, 0x64, 0x7f, 0x03]);
+            if (seconds) {
+                data.writeInt8(0x09, 5);
+                data.writeUInt16LE(time, 6);
+            }
+            characteristic.write(data);
+        }
+    }
+
+
+    setMotorAngle (port, angle, speed = 100) {
+        const characteristic = this._characteristics[Consts.BLE.Characteristics.Boost.ALL];
+        if (characteristic) {
+            const data = Buffer.from([0x0e, 0x00, 0x81, this.ports[port].value, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x7f, 0x03]);;
+            data.writeUInt32LE(angle, 6);
+            data.writeInt8(speed, 10);
             characteristic.write(data);
         }
     }