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Don't set motor power or direction if in rotation state.
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parent
8745c9b3ac
commit
2a04e9c7f2
1 changed files with 8 additions and 22 deletions
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@ -1788,23 +1788,14 @@ class Scratch3BoostBlocks {
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this._forEachMotor(args.MOTOR_ID, motorIndex => {
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this._forEachMotor(args.MOTOR_ID, motorIndex => {
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const motor = this._peripheral.motor(motorIndex);
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const motor = this._peripheral.motor(motorIndex);
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if (motor) {
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if (motor) {
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const power = MathUtil.clamp(Cast.toNumber(args.POWER), 0, 100);
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motor.power = MathUtil.clamp(Cast.toNumber(args.POWER), 0, 100);
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// if motor power is already equal to the scaled input power, don't do anything
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switch (motor.status) {
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if (motor.power !== MathUtil.scale(power, 1, 100, 10, 100)) {
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case BoostMotorState.ON_FOREVER:
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motor.power = power;
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motor.turnOnForever(false);
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switch (motor.status) {
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break;
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case BoostMotorState.ON_FOREVER:
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case BoostMotorState.ON_FOR_TIME:
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motor.turnOnForever(false);
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motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now(), false);
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break;
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break;
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case BoostMotorState.ON_FOR_TIME:
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motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now(), false);
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break;
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case BoostMotorState.ON_FOR_ROTATION: {
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const p = Math.abs(motor.pendingPositionDestination - motor.position, false);
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motor.turnOnForDegrees(p, Math.sign(p));
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break;
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}
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}
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}
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}
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}
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}
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});
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});
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@ -1851,11 +1842,6 @@ class Scratch3BoostBlocks {
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case BoostMotorState.ON_FOR_TIME:
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case BoostMotorState.ON_FOR_TIME:
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motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now(), false);
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motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now(), false);
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break;
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break;
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case BoostMotorState.ON_FOR_ROTATION: {
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const p = Math.abs(motor.pendingPositionDestination - motor.position);
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motor.turnOnForDegrees(p, Math.sign(p), false);
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break;
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}
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}
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}
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}
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}
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}
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}
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