From adb4c0482cf6cc23ca095287a803e83d5fe2d7f5 Mon Sep 17 00:00:00 2001
From: Evelyn Eastmond <evhan55@gmail.com>
Date: Tue, 23 Apr 2019 19:05:12 -0400
Subject: [PATCH 1/4] Reversing the sign on Motor A reported position.

---
 src/extensions/scratch3_boost/index.js | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js
index f36744740..8c7d71830 100644
--- a/src/extensions/scratch3_boost/index.js
+++ b/src/extensions/scratch3_boost/index.js
@@ -1888,7 +1888,11 @@ class Scratch3BoostBlocks {
             return false;
         }
         if (portID && this._peripheral.motor(portID)) {
-            return MathUtil.wrapClamp(this._peripheral.motor(portID).position, 0, 360);
+            let val = MathUtil.wrapClamp(this._peripheral.motor(portID).position, 0, 360);
+            if (portID === BoostPort.A) {
+                val *= -1;
+            }
+            return val;
         }
         return 0;
     }

From e3ec61417347d184676210a5aadfba228484feb8 Mon Sep 17 00:00:00 2001
From: Evelyn Eastmond <evhan55@gmail.com>
Date: Wed, 24 Apr 2019 11:24:56 -0400
Subject: [PATCH 2/4] Move reversing of sign to _onMessage, before clamping.

---
 src/extensions/scratch3_boost/index.js | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js
index 8c7d71830..ae7411792 100644
--- a/src/extensions/scratch3_boost/index.js
+++ b/src/extensions/scratch3_boost/index.js
@@ -1016,7 +1016,10 @@ class Boost {
                 break;
             case BoostIO.MOTOREXT:
             case BoostIO.MOTORINT:
-                this.motor(portID).position = int32ArrayToNumber(data.slice(4, 8));
+                // The motor position in port A is reversed by design, so we need
+                // to reverse it here so that all motors match
+                this.motor(portID).position = ((portID === BoostPort.A) ? -1 : 1) *
+                    int32ArrayToNumber(data.slice(4, 8));
                 break;
             case BoostIO.CURRENT:
             case BoostIO.VOLTAGE:
@@ -1888,13 +1891,8 @@ class Scratch3BoostBlocks {
             return false;
         }
         if (portID && this._peripheral.motor(portID)) {
-            let val = MathUtil.wrapClamp(this._peripheral.motor(portID).position, 0, 360);
-            if (portID === BoostPort.A) {
-                val *= -1;
-            }
-            return val;
+            return MathUtil.wrapClamp(this._peripheral.motor(portID).position, 0, 360);
         }
-        return 0;
     }
 
     /**

From a61b01628e02d034fb4b43aeb31c8ae9d135d40b Mon Sep 17 00:00:00 2001
From: Evelyn Eastmond <evhan55@gmail.com>
Date: Wed, 24 Apr 2019 11:28:29 -0400
Subject: [PATCH 3/4] Putting back a line deleted by accident.

---
 src/extensions/scratch3_boost/index.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js
index ae7411792..61af3e418 100644
--- a/src/extensions/scratch3_boost/index.js
+++ b/src/extensions/scratch3_boost/index.js
@@ -1893,6 +1893,7 @@ class Scratch3BoostBlocks {
         if (portID && this._peripheral.motor(portID)) {
             return MathUtil.wrapClamp(this._peripheral.motor(portID).position, 0, 360);
         }
+        return 0;
     }
 
     /**

From a0f0a4092ca752c4fe94577574d7121e57b2fa33 Mon Sep 17 00:00:00 2001
From: unknown <evhan55@gmail.com>
Date: Wed, 24 Apr 2019 22:42:54 -0400
Subject: [PATCH 4/4] Moving position reversal back to reporter to avoid
 conflicts.

---
 src/extensions/scratch3_boost/index.js | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js
index 61af3e418..c10f7a7c3 100644
--- a/src/extensions/scratch3_boost/index.js
+++ b/src/extensions/scratch3_boost/index.js
@@ -1016,10 +1016,7 @@ class Boost {
                 break;
             case BoostIO.MOTOREXT:
             case BoostIO.MOTORINT:
-                // The motor position in port A is reversed by design, so we need
-                // to reverse it here so that all motors match
-                this.motor(portID).position = ((portID === BoostPort.A) ? -1 : 1) *
-                    int32ArrayToNumber(data.slice(4, 8));
+                this.motor(portID).position = int32ArrayToNumber(data.slice(4, 8));
                 break;
             case BoostIO.CURRENT:
             case BoostIO.VOLTAGE:
@@ -1891,7 +1888,13 @@ class Scratch3BoostBlocks {
             return false;
         }
         if (portID && this._peripheral.motor(portID)) {
-            return MathUtil.wrapClamp(this._peripheral.motor(portID).position, 0, 360);
+            let val = this._peripheral.motor(portID).position;
+            // Boost motor A position direction is reversed by design
+            // so we have to reverse the position here
+            if (portID === BoostPort.A) {
+                val *= -1;
+            }
+            return MathUtil.wrapClamp(val, 0, 360);
         }
         return 0;
     }