diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js
index 3736283a6..30fbe8164 100644
--- a/src/extensions/scratch3_boost/index.js
+++ b/src/extensions/scratch3_boost/index.js
@@ -328,7 +328,7 @@ class BoostMotor {
* @type {Object}
* @private
*/
- this._pendingPromiseFunction = true;
+ this._pendingPromiseFunction = null;
this.startBraking = this.startBraking.bind(this);
this.turnOff = this.turnOff.bind(this);
@@ -447,10 +447,11 @@ class BoostMotor {
if (this._power === 0) return;
const cmd = this._parent.generateOutputCommand(
this._index,
- BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA,
- BoostMode.MOTOR_OUTPUT,
- [this._power * this._direction] // power in range 0-100
- );
+ BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK,
+ BoostOutputSubCommand.START_SPEED,
+ [this._power * this._direction,
+ this._power * this._direction,
+ BoostMotorProfile.DO_NOT_USE]);
this._parent.send(BLECharacteristic, cmd);
@@ -480,13 +481,13 @@ class BoostMotor {
const cmd = this._parent.generateOutputCommand(
this._index,
+ BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK,
BoostOutputSubCommand.START_SPEED_FOR_DEGREES,
- null,
- numberToInt32Array(degrees).concat(
- [this._power * this._direction, // power in range 0-100
+ [...numberToInt32Array(degrees),
+ this._power * this._direction, // power in range 0-100
0xFF, // max speed
BoostMotorEndState.FLOAT,
- BoostMotorProfile.DO_NOT_USE]) // byte for using acceleration/braking profile
+ BoostMotorProfile.DO_NOT_USE] // byte for using acceleration/braking profile
);
this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS;
@@ -503,9 +504,11 @@ class BoostMotor {
const cmd = this._parent.generateOutputCommand(
this._index,
- BoostMessage.MOTOR_POWER,
- BoostMode.MOTOR_OUTPUT,
- [BoostMotorEndState.BRAKE]
+ BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK,
+ BoostOutputSubCommand.START_SPEED,
+ [BoostMotorEndState.FLOAT,
+ BoostMotorEndState.FLOAT,
+ BoostMotorProfile.DO_NOT_USE]
);
this._parent.send(BLECharacteristic, cmd);
@@ -523,9 +526,11 @@ class BoostMotor {
const cmd = this._parent.generateOutputCommand(
this._index,
- BoostMessage.MOTOR_POWER,
- BoostMode.MOTOR_OUTPUT,
- [BoostMotorEndState.FLOAT]
+ BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK,
+ BoostOutputSubCommand.START_SPEED,
+ [BoostMotorEndState.FLOAT,
+ BoostMotorEndState.FLOAT,
+ BoostMotorProfile.DO_NOT_USE]
);
this._parent.send(BLECharacteristic, cmd, useLimiter);
@@ -706,9 +711,10 @@ class Boost {
const cmd = this.generateOutputCommand(
this._ports.indexOf(BoostIO.LED),
+ BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK,
BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA,
- BoostMode.LED,
- rgb
+ [BoostMode.LED,
+ ...rgb]
);
return this.send(BLECharacteristic, cmd);
@@ -729,21 +735,6 @@ class Boost {
return this.send(BLECharacteristic, cmd);
}
- /**
- * Switch off the LED on the Boost.
- * @return {Promise} - a promise of the completion of the stop led send operation.
- */
- stopLED () {
- const cmd = this.generateOutputCommand(
- this._ports.indexOf(BoostIO.LED),
- BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA,
- BoostUnit.LED,
- [0, 0, 0]
- );
-
- return this.send(BLECharacteristic, cmd);
- }
-
/**
* Stop the motors on the Boost peripheral.
*/
@@ -837,34 +828,19 @@ class Boost {
/**
* Generate a Boost 'Output Command' in the byte array format
- * (CONNECT ID, COMMAND ID, NUMBER OF BYTES, VALUES ...).
+ * (COMMON HEADER, PORT ID, EXECUTION BYTE, SUBCOMMAND ID, PAYLOAD).
*
- * This sends a command to the Boost to actuate the specified outputs.
+ * Payload is accepted as an array since these vary across different subcommands.
*
* @param {number} portID - the port (Connect ID) to send a command to.
- * @param {number} subCommandID - the id of the byte command.
- * @param {number} mode - the mode
- * @param {array} values - the list of values to write to the command.
+ * @param {number} execution - Byte containing startup/completion information
+ * @param {number} subCommandID - the id of the subcommand byte.
+ * @param {array} payload - the list of bytes to send as subcommand payload
* @return {array} - a generated output command.
*/
- generateOutputCommand (portID, subCommandID = BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, mode=null, values = null) {
- let command = [0x00 /* Hub ID (always 0 for now) */, BoostMessage.OUTPUT];
- if (values) {
- command = command.concat(portID).concat(
- BoostOutputExecution.EXECUTE_IMMEDIATELY ^
- BoostOutputExecution.COMMAND_FEEDBACK
- );
-
- if(subCommandID) {
- command = command.concat(subCommandID);
- }
- if(mode !== null) {
- command = command.concat(mode)
- }
- command = command.concat(
- values
- );
- }
+ generateOutputCommand (portID, execution, subCommand, payload) {
+ let hubID = 0x00
+ let command = [hubID, BoostMessage.OUTPUT, portID, execution, subCommand, ...payload]
command.unshift(command.length +1)
return command;
}
@@ -988,10 +964,12 @@ class Boost {
switch(feedback) {
case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE:
case BoostOutputCommandFeedback.CURRENT_COMMAND_DISCARDED ^ BoostOutputCommandFeedback.IDLE: // Resolve even if command didn't complete successfully
- if(this._motors[portID]) {
+ if(this._motors[portID] && this._motors[portID].pendingPromiseFunction) {
this._motors[portID].pendingPromiseFunction();
- break;
}
+ break;
+ case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS:
+ break;
default:
console.log(buf2hex(data))
console.log("Got it but didn't find a motor on: " + portID)