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Do not send coast if another motor command has been sent

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This commit is contained in:
Paul Kaplan 2018-07-19 15:46:01 -04:00
parent 378fd672fc
commit a762892879
1 changed files with 22 additions and 10 deletions
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32
src/extensions/scratch3_ev3/index.js
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@ -1,6 +1,7 @@
const ArgumentType = require('../../extension-support/argument-type'); const ArgumentType = require('../../extension-support/argument-type');
const BlockType = require('../../extension-support/block-type'); const BlockType = require('../../extension-support/block-type');
const Cast = require('../../util/cast'); const Cast = require('../../util/cast');
const uid = require('../../util/uid');
// const log = require('../../util/log'); // const log = require('../../util/log');
const Base64Util = require('../../util/base64-util'); const Base64Util = require('../../util/base64-util');
const BTSession = require('../../io/btSession'); const BTSession = require('../../io/btSession');
@ -135,7 +136,8 @@ class EV3 {
this._motors = { this._motors = {
speeds: [50, 50, 50, 50], speeds: [50, 50, 50, 50],
positions: [0, 0, 0, 0], positions: [0, 0, 0, 0],
busy: [0, 0, 0, 0] busy: [0, 0, 0, 0],
commandId: [null, null, null, null]
}; };
this._pollingIntervalID = null; this._pollingIntervalID = null;
this._pollingCounter = 0; this._pollingCounter = 0;
@ -186,7 +188,8 @@ class EV3 {
this._motors = { this._motors = {
speeds: [50, 50, 50, 50], speeds: [50, 50, 50, 50],
positions: [0, 0, 0, 0], positions: [0, 0, 0, 0],
busy: [0, 0, 0, 0] busy: [0, 0, 0, 0],
commandId: [null, null, null, null]
}; };
this._pollingIntervalID = null; this._pollingIntervalID = null;
} }
@ -296,10 +299,7 @@ class EV3 {
// Set motor to busy // Set motor to busy
// this._motors.busy[port] = 1; // this._motors.busy[port] = 1;
// Send coast message this.coastAfter(port, time);
setTimeout(() => {
this.motorCoast(port);
}, time);
// Yield for turn time + brake time // Yield for turn time + brake time
const coastTime = 100; // TODO: calculate coasting or set flag const coastTime = 100; // TODO: calculate coasting or set flag
@ -331,10 +331,7 @@ class EV3 {
// Set motor to busy // Set motor to busy
// this._motors.busy[port] = 1; // this._motors.busy[port] = 1;
// Send coast message this.coastAfter(port, time);
setTimeout(() => {
this.motorCoast(port);
}, time);
// Yield for time // Yield for time
const coastTime = 100; // TODO: calculate coasting or set flag const coastTime = 100; // TODO: calculate coasting or set flag
@ -345,6 +342,21 @@ class EV3 {
}); });
} }
coastAfter(port, time) {
// Set the motor command id to check before starting coast
const commandId = uid();
this._motors.commandId[port] = commandId;
// Send coast message
setTimeout(() => {
// Do not send coast if another motor command changed the command id.
if (this._motors.commandId[port] === commandId) {
this.motorCoast(port);
this._motors.commandId[port] = null;
}
}, time);
}
motorCoast (port) { motorCoast (port) {
const cmd = []; const cmd = [];