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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 12:44:43 +01:00
parent 4cfee19b5a
commit f51f066c94
3 changed files with 28 additions and 6 deletions
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2
DOCS.md
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@ -477,7 +477,7 @@ Set the motor speed on a given port.
| Param | Type | Description |
| --- | --- | --- |
| port | <code>string</code> | |
| speed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
| speed | <code>number</code> \| <code>Array.&lt;number&gt;</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds. |
| [time] | <code>number</code> | How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely. |
<a name="BoostMoveHub+setMotorAngle"></a>

2
README.md
View File

@ -527,7 +527,7 @@ Set the motor speed on a given port.
| Param | Type | Description |
| --- | --- | --- |
| port | <code>string</code> | |
| speed | <code>number</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. |
| speed | <code>number</code> \| <code>Array.&lt;number&gt;</code> | For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds. |
| [time] | <code>number</code> | How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely. |
<a name="BoostMoveHub+setMotorAngle"></a>

30
boostmovehub.ts
View File

@ -70,23 +70,44 @@ export class BoostMoveHub extends LPF2Hub {
* Set the motor speed on a given port.
* @method BoostMoveHub#setMotorSpeed
* @param {string} port
* @param {number} speed For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
* @param {number | Array<number>} speed For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds.
* @param {number} [time] How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely.
* @returns {Promise} Resolved upon successful completion of command. If time is specified, this is once the motor is finished.
*/
public setMotorSpeed (port: string, speed: number, time?: number) {
public setMotorSpeed (port: string, speed: number | [number, number], time?: number) {
const portObj = this._portLookup(port);
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) => {
const portObj = this._portLookup(port);
if (time) {
if (portObj.type === Consts.Devices.BOOST_INTERACTIVE_MOTOR || portObj.type === Consts.Devices.BOOST_MOVE_HUB_MOTOR) {
portObj.busy = true;
const data = Buffer.from([0x0c, 0x00, 0x81, portObj.value, 0x11, 0x09, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
let data = null;
if (portObj.id === "AB") {
if (speed instanceof Array) {
data = Buffer.from([0x0d, 0x00, 0x81, portObj.value, 0x11, 0x0a, 0x00, 0x00, this._mapSpeed(speed[0]), this._mapSpeed(speed[1]), 0x64, 0x7f, 0x03]);
} else {
data = Buffer.from([0x0d, 0x00, 0x81, portObj.value, 0x11, 0x0a, 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([0x0c, 0x00, 0x81, portObj.value, 0x11, 0x09, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
}
data.writeUInt16LE(time > 65535 ? 65535 : time, 6);
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);
setTimeout(() => {
@ -96,6 +117,7 @@ export class BoostMoveHub extends LPF2Hub {
}, time);
}
} 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();