smoother turns

microsoft · Sep 28, 2023 · b72c1d8 · b72c1d8
1 parent d8acc0d
commit b72c1d8
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Showing 3 changed files with 16 additions and 5 deletions.
diff --git a/robot/cutebot.ts b/robot/cutebot.ts
@@ -3,7 +3,7 @@ namespace microcode {
 
     //https://github.com/elecfreaks/pxt-cutebot/blob/master/cutebot.ts
     function motors(lspeed: number, rspeed: number): void {
-        let buf = pins.createBuffer(4)
+        const buf = pins.createBuffer(4)
         /*
         if (lspeed > 100) {
             lspeed = 100;
@@ -87,8 +87,9 @@ namespace microcode {
         }
 
         motorTurn(speed: number) {
-            if (speed > 0) motors(speed, 0)
-            else motors(0, -speed)
+            const op = Math.abs(speed) >> 1
+            if (speed > 0) motors(speed, Math.constrain(this.maxTurnSpeed - speed, 0, op))
+            else motors(Math.constrain(this.maxTurnSpeed + speed, 0, op), -speed)
         }
 
         headlightsSetColor(red: number, green: number, blue: number) {

diff --git a/robot/pxt.json b/robot/pxt.json
@@ -1,5 +1,6 @@
 {
     "name": "microcode-robot",
+    "version": "2.4.41",
     "dependencies": {
         "core": "*",
         "radio": "*"
@@ -25,6 +26,5 @@
     "supportedTargets": [
         "microbit"
     ],
-    "preferredEditor": "tsprj",
-    "version": "2.4.41"
+    "preferredEditor": "tsprj"
 }
diff --git a/robot/test.ts b/robot/test.ts
@@ -3,6 +3,15 @@ microcode.elecfreaksCuteBot.start()
 //microcode.keyStudioMiniSmartRobot.start()
 microcode.setMotorDrift(6)
 
+let speed = 0
+basic.forever(() => {
+microcode.robotDriver.motorTurn(speed)
+    pause(500)
+    microcode.robotDriver.motorTurn(-speed)
+    pause(500)
+    speed = (speed + 1) % microcode.robotDriver.robot.maxTurnSpeed
+})
+/*
 basic.forever(() => {
     const dist = microcode.robotDriver.ultrasonicDistance()
     if (dist > 10) microcode.robotDriver.motorRun(100)
@@ -16,3 +25,4 @@ basic.forever(() => {
         microcode.robotDriver.motorStop()
     }
 })
+*/