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Power Functions fixes

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This commit is contained in:
Nathan Kellenicki 2020-04-04 17:05:53 -07:00
parent 45670f57c7
commit 48532ab56f
1 changed files with 10 additions and 7 deletions
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17
src/devices/colordistancesensor.ts
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@ -10,8 +10,6 @@ import * as Consts from "../consts";
*/ */
export class ColorDistanceSensor extends Device { export class ColorDistanceSensor extends Device {
private _pfToggleBit = 0;
constructor (hub: IDeviceInterface, portId: number) { constructor (hub: IDeviceInterface, portId: number) {
super(hub, portId, ModeMap, Consts.DeviceType.COLOR_DISTANCE_SENSOR); super(hub, portId, ModeMap, Consts.DeviceType.COLOR_DISTANCE_SENSOR);
} }
@ -99,7 +97,7 @@ export class ColorDistanceSensor extends Device {
const message = Buffer.alloc(2); const message = Buffer.alloc(2);
// Send "Extended toggle address command" // Send "Extended toggle address command"
message[0] = ((channel - 1) << 4) + (address << 3); message[0] = ((channel - 1) << 4) + (address << 3);
message[1] = 6; message[1] = 6 << 4;
return this.sendPFIRMessage(message); return this.sendPFIRMessage(message);
} }
@ -112,7 +110,7 @@ export class ColorDistanceSensor extends Device {
* @param {number} power -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake. * @param {number} power -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
* @returns {Promise} Resolved upon successful issuance of the command. * @returns {Promise} Resolved upon successful issuance of the command.
*/ */
public setPFPower (channel: number, output: "RED" | "BLUE", power: number) { public setPFPower (channel: number, output: Output, power: number) {
let address = 0; let address = 0;
if (channel > 4) { if (channel > 4) {
channel -= 4; channel -= 4;
@ -136,7 +134,7 @@ export class ColorDistanceSensor extends Device {
* @param {Buffer} powerB -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake. * @param {Buffer} powerB -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
* @returns {Promise} Resolved upon successful issuance of the command. * @returns {Promise} Resolved upon successful issuance of the command.
*/ */
public startPFMotors (channel: number, powerA: number, powerB: number) { public startPFMotors (channel: number, powerBlue: number, powerRed: number) {
let address = 0; let address = 0;
if (channel > 4) { if (channel > 4) {
channel -= 4; channel -= 4;
@ -144,8 +142,8 @@ export class ColorDistanceSensor extends Device {
} }
const message = Buffer.alloc(2); const message = Buffer.alloc(2);
// Send "Combo PWM mode" // Send "Combo PWM mode"
message[0] = (((channel - 1) + 4 + (address << 3)) << 4) + this._pfPowerToPWM(powerA); message[0] = (((channel - 1) + 4 + (address << 3)) << 4) + this._pfPowerToPWM(powerBlue);
message[1] = this._pfPowerToPWM(powerB) << 4; message[1] = this._pfPowerToPWM(powerRed) << 4;
return this.sendPFIRMessage(message); return this.sendPFIRMessage(message);
} }
@ -211,3 +209,8 @@ export const ModeMap: {[event: string]: number} = {
"distance": Mode.DISTANCE, "distance": Mode.DISTANCE,
"colorAndDistance": Mode.COLOR_AND_DISTANCE "colorAndDistance": Mode.COLOR_AND_DISTANCE
}; };
export enum Output {
RED = "RED",
BLUE = "BLUE"
}