writing to output for servo, wip because unexpected 270 degree range

concord-consortium · Mar 28, 2024 · 3103bc4 · 3103bc4
1 parent d3ce4ca
commit 3103bc4
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Showing 2 changed files with 19 additions and 5 deletions.
diff --git a/src/models/stores/serial.ts b/src/models/stores/serial.ts
@@ -162,12 +162,20 @@ export class SerialDevice {
   }
 
   public writeToOutForBBGripper(n:number, liveOutputType: string){
-    const gripperVer = NodeLiveOutputTypes.find(o => o.name === liveOutputType);
-    if (this.hasPort() && gripperVer?.angleBase){
+    const outputConfig = NodeLiveOutputTypes.find(o => o.name === liveOutputType);
+    if (this.hasPort() && outputConfig?.angleBase !== undefined){
       const percent = n / 100;
-      const openTo = Math.round(gripperVer.angleBase - (percent * gripperVer.sweep));
+      const openTo = Math.round(outputConfig.angleBase - (percent * outputConfig.sweep));
       this.writer.write(`${openTo.toString()}\n`);
     }
   }
+
+  public writeToOutForServo(n:number, liveOutputType: string){
+    const outputConfig = NodeLiveOutputTypes.find(o => o.name === liveOutputType);
+    if (this.hasPort() && outputConfig?.angleBase !== undefined){
+      const constrainedAngle = Math.min(180, Math.max(0, n));
+      this.writer.write(`${constrainedAngle.toString()}\n`);
+    }
+  }
 }
 
diff --git a/src/plugins/dataflow/nodes/utilities/update-utilities.ts b/src/plugins/dataflow/nodes/utilities/update-utilities.ts
@@ -6,7 +6,7 @@ import { getHubSelect, getNodeValueWithType } from "./live-output-utilities";
 import { NumControl } from "../controls/num-control";
 import { SensorSelectControl } from "../controls/sensor-select-control";
 import { NodeChannelInfo } from "../../model/utilities/channel";
-import { kMaxNodeValues, NodeGeneratorTypes, NodeTimerInfo, NodeValue } from "../../model/utilities/node";
+import { kGripperOutputTypes, kMaxNodeValues, kServoOutputTypes, NodeGeneratorTypes, NodeTimerInfo, NodeValue } from "../../model/utilities/node";
 import { findOutputVariable, simulatedHubName } from "../../model/utilities/simulated-output";
 import { SerialDevice } from "../../../../models/stores/serial";
 
@@ -29,8 +29,14 @@ export function sendDataToSerialDevice(n: Node, serialDevice: SerialDevice) {
   const { deviceFamily } = serialDevice;
 
   if (deviceFamily === "arduino" && isNumberOutput){
-    serialDevice.writeToOutForBBGripper(val, outType);
+    if (kGripperOutputTypes.includes(outType)){
+      serialDevice.writeToOutForBBGripper(val, outType);
+    }
+    if (kServoOutputTypes.includes(outType)){
+      serialDevice.writeToOutForServo(val, outType);
+    }
   }
+
   if (deviceFamily === "microbit"){
     const hubSelect = getHubSelect(n);
     if (hubSelect.getChannels()){