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Port AB properly supported on Boost Move Hubs

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This commit is contained in:
Nathan Kunicki 2018-08-02 15:16:45 +01:00
parent b0b9a6c86b
commit 82436b9408
1 changed files with 41 additions and 14 deletions
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49
boostmovehub.ts
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@ -79,15 +79,9 @@ export class BoostMoveHub extends LPF2Hub {
if (portObj.id !== "AB" && speed instanceof Array) {
throw new Error(`Port ${portObj.id} can only accept a single speed`);
}
if (portObj.id === "AB") {
const portObjA = this._portLookup("A");
const portObjB = this._portLookup("B");
if (portObjA.type !== portObjB.type) {
throw new Error(`Port ${portObj.id} requires both motors be of the same type`);
}
}
return new Promise((resolve, reject) => {
if (time) {
if (portObj.type === Consts.Devices.BOOST_INTERACTIVE_MOTOR || portObj.type === Consts.Devices.BOOST_MOVE_HUB_MOTOR) {
portObj.busy = true;
let data = null;
@ -116,11 +110,32 @@ export class BoostMoveHub extends LPF2Hub {
return resolve();
}, time);
}
} else {
if (portObj.type === Consts.Devices.BOOST_INTERACTIVE_MOTOR || portObj.type === Consts.Devices.BOOST_MOVE_HUB_MOTOR) {
portObj.busy = true;
let data = null;
if (portObj.id === "AB") {
if (speed instanceof Array) {
data = Buffer.from([0x0a, 0x00, 0x81, portObj.value, 0x11, 0x02, this._mapSpeed(speed[0]), this._mapSpeed(speed[1]), 0x64, 0x7f, 0x03]);
} else {
data = Buffer.from([0x0a, 0x00, 0x81, portObj.value, 0x11, 0x02, this._mapSpeed(speed), this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
}
} else {
// @ts-ignore: The type of speed is properly checked at the start
data = Buffer.from([0x0a, 0x00, 0x81, portObj.value, 0x11, 0x01, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
}
this._writeMessage(Consts.BLECharacteristics.LPF2_ALL, data);
portObj.finished = () => {
return resolve();
};
} else {
// @ts-ignore: The type of speed is properly checked at the start
const data = Buffer.from([0x08, 0x00, 0x81, portObj.value, 0x11, 0x51, 0x00, this._mapSpeed(speed)]);
this._writeMessage(Consts.BLECharacteristics.LPF2_ALL, data);
return resolve();
}
}
});
}
@ -134,16 +149,28 @@ export class BoostMoveHub extends LPF2Hub {
* @param {number} [speed=100] How fast the motor should be rotated.
* @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
*/
public setMotorAngle (port: string, angle: number, speed: number = 100) {
public setMotorAngle (port: string, angle: number, speed: number | [number, number] = 100) {
const portObj = this._portLookup(port);
if (!(portObj.type === Consts.Devices.BOOST_INTERACTIVE_MOTOR || portObj.type === Consts.Devices.BOOST_MOVE_HUB_MOTOR)) {
throw new Error("Angle rotation is only available when using a Boost Interactive Motor or Boost Move Hub Motor");
}
if (portObj.id !== "AB" && speed instanceof Array) {
throw new Error(`Port ${portObj.id} can only accept a single speed`);
}
return new Promise((resolve, reject) => {
portObj.busy = true;
const data = Buffer.from([0x0e, 0x00, 0x81, portObj.value, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x7f, 0x03]);
let data = null;
if (portObj.id === "AB") {
if (speed instanceof Array) {
data = Buffer.from([0x0f, 0x00, 0x81, portObj.value, 0x11, 0x0c, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed[0]), this._mapSpeed(speed[1]), 0x64, 0x7f, 0x03]);
} else {
data = Buffer.from([0x0f, 0x00, 0x81, portObj.value, 0x11, 0x0c, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
}
} else {
// @ts-ignore: The type of speed is properly checked at the start
data = Buffer.from([0x0e, 0x00, 0x81, portObj.value, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
}
data.writeUInt32LE(angle, 6);
data.writeUInt8(this._mapSpeed(speed), 10);
this._writeMessage(Consts.BLECharacteristics.LPF2_ALL, data);
portObj.finished = () => {
return resolve();