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Rotating motors by angle

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This commit is contained in:
Nathan Kunicki 2018-06-13 16:12:43 +01:00
parent f732e580af
commit 26f2c925b8
1 changed files with 16 additions and 5 deletions
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21
boosthub.js
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@ -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]; const characteristic = this._characteristics[Consts.BLE.Characteristics.Boost.ALL];
if (characteristic) { 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]); 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); characteristic.write(data);
} }
} }