Update robot/protocol.ts, robot/robot.ts, robot/micromaqueenrobot.ts,…

… robot/radio.ts
microsoft · Sep 19, 2023 · 369fd67 · 369fd67
1 parent f826589
commit 369fd67
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Showing 4 changed files with 6 additions and 19 deletions.
diff --git a/robot/micromaqueenrobot.ts b/robot/micromaqueenrobot.ts
@@ -19,9 +19,6 @@ namespace microcode {
                     maqueen.motorRun(maqueen.Motors.All, right < 0 ? maqueen.Dir.CCW : maqueen.Dir.CW, right)
             }
         }
-        motorStop() {
-            maqueen.motorStop(maqueen.Motors.All)
-        }
     }
 
     robot = new MicroMaqqueenRobot()

diff --git a/robot/protocol.ts b/robot/protocol.ts
@@ -2,9 +2,7 @@ namespace microcode {
     const MESSAGE_MAGIC = 0xf498
 
     export enum RobotCommand {
-        SetRobotDriver = 0x0001,
-        MotorRun = 0x0002,
-        MotorStop = 0x0003,
+        MotorRun = 0x0001,
     }
     export enum RobotDrivers {
         MicroMaqqueen = 0x01

diff --git a/robot/radio.ts b/robot/radio.ts
@@ -13,7 +13,7 @@ namespace microcode {
 
     export function setGroup(newGroup: number) {
         if (newGroup < 0)
-            newGroup += MAX_GROUPS 
+            newGroup += MAX_GROUPS
         group = newGroup % MAX_GROUPS
         radio.setGroup(group)
         showRadioStatus()
@@ -40,17 +40,12 @@ namespace microcode {
         const payload = msg.payload
         switch (cmd) {
             case RobotCommand.MotorRun: {
-                const left = payload.getNumber(NumberFormat.Int8LE, 0)
-                const right = payload.getNumber(NumberFormat.Int8LE, 1)
+                const left = Math.clamp(-255, 255, payload.getNumber(NumberFormat.Int16LE, 0))
+                const right = Math.clamp(-255, 255, payload.getNumber(NumberFormat.Int16LE, 2))
                 console.log(`motor run ${left} ${right}`)
                 robot.motorRun(left, right)
                 break
             }
-            case RobotCommand.MotorStop: {
-                console.log(`motor stop`)
-                robot.motorStop()
-                break
-            }
         }
     })
 }
diff --git a/robot/robot.ts b/robot/robot.ts
@@ -1,13 +1,10 @@
 namespace microcode {
     export interface Robot {
         /*
-        Set the power on motors
+        Set the power on motors where `left` and `right` are in [-255,255]
+        Set left and right to 0 to stop.
         */
         motorRun(left: number, right: number): void;
-        /**
-         * Stop and brake
-         */
-        motorStop(): void;
     }
 
     export let robot: Robot