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quick tweak

pull/714/head
Gordon Williams 2020-11-06 12:20:02 +00:00
parent 59afadc55a
commit baf2ae0ada
1 changed files with 11 additions and 11 deletions
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22
apps/smartibot/app.js
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@ -53,15 +53,15 @@ function startConnectChoose(device) {
function startConnectBtn(device) { function startConnectBtn(device) {
E.showMenu(); E.showMenu();
startConnect(device, startConnect(device,
"\x03\x10var w=digitalWrite.bind(null,[D4,D6,D10,D11])\n", "\x03\x10var w=digitalWrite.bind(null,[D4,D6,D11,D10])\n",
function(gatt, write) { function(gatt, write) {
function setMotors(val) { write(`\x10w(${val})\n`); } function setMotors(val) { write(`\x10w(${val})\n`); }
drawBGBtn(); drawBGBtn();
g.reset().setFont("6x8",2).setFontAlign(0,0,1).drawString("BACK", 230,200); g.reset().setFont("6x8",2).setFontAlign(0,0,1).drawString("BACK", 230,200);
var state = 0; var state = 0;
var watches = [ var watches = [
setWatch(e=>setMotors(state = (state&0b1100) | e.state), BTN4, {repeat:true, edge:0}), setWatch(e=>setMotors(state = (state&0b0011) | (e.state<<2)), BTN4, {repeat:true, edge:0}),
setWatch(e=>setMotors(state = (state&0b0011) | (e.state<<2)), BTN5, {repeat:true, edge:0}), setWatch(e=>setMotors(state = (state&0b1100) | e.state), BTN5, {repeat:true, edge:0}),
setWatch(() => { setWatch(() => {
g.clear(); g.clear();
watches.forEach(clearWatch); watches.forEach(clearWatch);
@ -86,18 +86,18 @@ function startConnectAccel(device) {
var v = [0,0,0,0]; var v = [0,0,0,0];
if (a.z<-0.5) { if (a.z<-0.5) {
var vel = 0, rot = 0; var vel = 0, rot = 0;
if (a.y<-0.2) vel = -(a.y+0.2); if (a.y<-0.2) vel = a.y+0.2;
if (a.y>0.2) vel = a.y-0.2; if (a.y>0.2) vel = a.y-0.2;
if (a.x<-0.2) rot = -(a.x+0.2); if (a.x<-0.2) rot = a.x+0.2;
if (a.x>0.2) rot = a.x-0.2; if (a.x>0.2) rot = a.x-0.2;
var rl = Math.round((vel+rot)*200)/100; var rl = Math.round(-(vel+rot)*200)/100;
var rr = Math.round((vel-rot)*200)/100; var rr = Math.round((vel-rot)*200)/100;
v[0] = rl>0 ? rl:0; v[0] = (rl>0) ? rl:0;
v[1] = rl<0 ? -rl:0; v[1] = (rl<0) ? -rl:0;
v[2] = rr>0 ? rr:0; v[2] = (rr>0) ? rr:0;
v[3] = rr<0 ? -rr:0; v[3] = (rr<0) ? -rr:0;
write(`\x10w(${v.join(",")})\n`);
} }
write(`\x10w(${v.join(",")})\n`);
}); });
setWatch(() => { setWatch(() => {
g.clear(); g.clear();