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Power to speed when rotating by angle
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Nathan Kellenicki 2019-12-17 17:23:27 -08:00
parent ffd3cceab8
commit 364089b703
2 changed files with 3 additions and 17 deletions
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6
src/devices/tachomotor.ts
View File

@ -31,16 +31,16 @@ export class TachoMotor extends BasicMotor {
* Rotate a motor by a given angle.
* @method TachoMotor#rotateByAngle
* @param {number} angle How much the motor should be rotated (in degrees).
* @param {number} [power=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
* @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
* @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
*/
public rotateByAngle (angle: number, power: number = 100) {
public rotateByAngle (angle: number, speed: number = 100) {
if (this.isWeDo2SmartHub) {
throw new Error("Angle rotation is not available on the WeDo 2.0 Smart Hub");
}
return new Promise((resolve) => {
this._busy = true;
const message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, mapSpeed(power), 0x64, 0x7f, 0x03]);
const message = Buffer.from([0x81, this.portId, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), 0x64, 0x7f, 0x03]);
message.writeUInt32LE(angle, 4);
this.send(message);
this._finished = () => {

14
src/hubs/lpf2hub.ts
View File

@ -401,20 +401,6 @@ export class LPF2Hub extends Hub {
}
}
// const port = this._getPortForPortNumber(data[3]);
// if (!port) {
// return;
// }
// if (data[4] === 0x0a) {
// port.busy = false;
// if (port.finished) {
// port.finished();
// port.finished = null;
// }
// }
}