From 555b540071f63cbf41cb3966024ec06a896fc069 Mon Sep 17 00:00:00 2001
From: demoCrash <173336348@qq.com>
Date: Wed, 14 Nov 2018 16:31:36 +0800
Subject: [PATCH] modify 020 error when rotate at speed

---
 ovobot.ts | 35 ++++++++++++++++++++---------------
 pxt.json  |  2 +-
 2 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/ovobot.ts b/ovobot.ts
index 239d190..8597167 100644
--- a/ovobot.ts
+++ b/ovobot.ts
@@ -134,6 +134,7 @@ namespace ovobot {
     let rotate_total = 0;
     let rotate_target = 0;
     let previous_rotateMicroTimes = 0;
+    let start_heading = 0;
 
     //private function
     function setupMotorPWM() {
@@ -387,7 +388,7 @@ namespace ovobot {
     }
 
     function updateLightStrength() {
-
+        _lightStrength = input.lightLevel();
     }
 
     function updateLineSensor() {
@@ -408,6 +409,20 @@ namespace ovobot {
                     updateDistance();
                     updateLightStrength();
                     updateLineSensor();
+                    if (robot.rotateSpeed != 0) {
+                        //music.playTone(262, music.beat(BeatFraction.Whole))
+                        let current = input.runningTimeMicros();
+                        let delta = current - previous_rotateMicroTimes;
+                        robot.heading = start_heading + robot.rotateSpeed * delta / 1000000.0;
+                        robot.heading = robot.heading % 360;
+                        if (robot.heading < 0) {
+                            robot.heading += 360;
+                        }
+                        if (robot.heading > 360) {
+                            robot.heading -= 360;
+                        }
+                        appMove(robot.heading, robot.speed, RobotMoveType.RobotMove);
+                    }
                     pidController();
                     // serial.writeNumber(_lineSensorLeft);
                     // serial.writeString("   ");
@@ -578,23 +593,13 @@ namespace ovobot {
         while (!gyroWorked) {
             basic.pause(20);
         }
+        if (angleSpeed == robot.rotateSpeed) {
+            return;
+        }
         angleSpeed = constract(angleSpeed, -255, 255);
         robot.rotateSpeed = angleSpeed;
+        start_heading = robot.heading;
         previous_rotateMicroTimes = input.runningTimeMicros();
-        continueRotateAtSpeed(robot.heading);
-        //appMove(robot.heading, robot.speed, RobotMoveType.RobotMove);
-    }
-
-    function continueRotateAtSpeed(startAngle: number) {
-        if (robot.rotateSpeed != 0) {
-            let current = input.runningTimeMicros();
-            let delta = current - previous_rotateMicroTimes;
-            robot.heading = startAngle + robot.rotateSpeed * delta / 1000000.0;
-            appMove(robot.heading, robot.speed, RobotMoveType.RobotMove);
-            control.inBackground(() => {
-                continueRotateAtSpeed(startAngle);
-            });
-        }
     }
 
     /**
diff --git a/pxt.json b/pxt.json
index 46da826..043e9a2 100644
--- a/pxt.json
+++ b/pxt.json
@@ -1,6 +1,6 @@
 {
     "name": "ovobot",
-    "version": "0.0.4",
+    "version": "0.0.5",
     "dependencies": {
         "core": "*",
         "radio": "*"