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Merge pull request #2140 from evhan55/bugfix/2136

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Change Boost motor turning behavior for '0 speed' case
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Evelyn Eastmond 2019-04-29 14:00:18 -04:00 committed by GitHub
commit 81302db86d
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1 changed files with 20 additions and 29 deletions
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49
src/extensions/scratch3_boost/index.js
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@ -431,9 +431,14 @@ class BoostMotor {
* @param {BoostMotorState} value - set this motor's state.
*/
set status (value) {
// Clear any time- or rotation-related state from motor and set new status.
this._clearRotationState();
this._clearTimeout();
if (value !== BoostMotorState.ON_FOR_ROTATION) {
// clear rotation pending promise only if not already in rotation state
this._clearRotationState();
}
if (value !== BoostMotorState.ON_FOR_TIME) {
// clear duration pending promise only if not already in duration state
this._clearTimeout();
}
this._status = value;
}
@ -477,7 +482,6 @@ class BoostMotor {
* @private
*/
_turnOn () {
if (this.power === 0) return;
const cmd = this._parent.generateOutputCommand(
this._index,
BoostOutputExecution.EXECUTE_IMMEDIATELY,
@ -493,24 +497,19 @@ class BoostMotor {
/**
* Turn this motor on indefinitely
* @param {boolean} [resetState=true] - whether to reset the state of the motor when running this command.
*/
turnOnForever (resetState = true){
if (this.power === 0) return;
if (resetState) this.status = BoostMotorState.ON_FOREVER;
turnOnForever () {
this.status = BoostMotorState.ON_FOREVER;
this._turnOn();
}
/**
* Turn this motor on for a specific duration.
* @param {number} milliseconds - run the motor for this long.
* @param {boolean} [resetState=true] - whether to reset the state of the motor when running this command.
*/
turnOnFor (milliseconds, resetState = true) {
if (this.power === 0) return;
turnOnFor (milliseconds) {
milliseconds = Math.max(0, milliseconds);
if (resetState) this.status = BoostMotorState.ON_FOR_TIME;
this.status = BoostMotorState.ON_FOR_TIME;
this._turnOn();
this._setNewTimeout(this.turnOff, milliseconds);
}
@ -519,14 +518,8 @@ class BoostMotor {
* Turn this motor on for a specific rotation in degrees.
* @param {number} degrees - run the motor for this amount of degrees.
* @param {number} direction - rotate in this direction
* @param {boolean} [resetState=true] - whether to reset the state of the motor when running this command.
*/
turnOnForDegrees (degrees, direction, resetState = true) {
if (this.power === 0) {
this._clearRotationState();
return;
}
turnOnForDegrees (degrees, direction) {
degrees = Math.max(0, degrees);
const cmd = this._parent.generateOutputCommand(
@ -542,7 +535,7 @@ class BoostMotor {
]
);
if (resetState) this.status = BoostMotorState.ON_FOR_ROTATION;
this.status = BoostMotorState.ON_FOR_ROTATION;
this._pendingPositionDestination = this.position + (degrees * this.direction * direction);
this._parent.send(BoostBLE.characteristic, cmd);
}
@ -552,8 +545,6 @@ class BoostMotor {
* @param {boolean} [useLimiter=true] - if true, use the rate limiter
*/
turnOff (useLimiter = true) {
if (this.power === 0) return;
const cmd = this._parent.generateOutputCommand(
this._index,
BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK,
@ -1791,13 +1782,13 @@ class Scratch3BoostBlocks {
motor.power = MathUtil.clamp(Cast.toNumber(args.POWER), 0, 100);
switch (motor.status) {
case BoostMotorState.ON_FOREVER:
motor.turnOnForever(false);
motor.turnOnForever();
break;
case BoostMotorState.ON_FOR_TIME:
motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now(), false);
motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now());
break;
case BoostMotorState.ON_FOR_ROTATION: {
const p = Math.abs(motor.pendingPositionDestination - motor.position, false);
const p = Math.abs(motor.pendingPositionDestination - motor.position);
motor.turnOnForDegrees(p, Math.sign(p));
break;
}
@ -1842,14 +1833,14 @@ class Scratch3BoostBlocks {
if (motor) {
switch (motor.status) {
case BoostMotorState.ON_FOREVER:
motor.turnOnForever(false);
motor.turnOnForever();
break;
case BoostMotorState.ON_FOR_TIME:
motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now(), false);
motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now());
break;
case BoostMotorState.ON_FOR_ROTATION: {
const p = Math.abs(motor.pendingPositionDestination - motor.position);
motor.turnOnForDegrees(p, Math.sign(p), false);
motor.turnOnForDegrees(p, Math.sign(p));
break;
}
}