Tachomotor & Absolutemotor

[firien]

I ran into trouble controlling a Technic Large Motor; while struggling to reset zero angle, and absolutely rotate to a desired angle, i found:

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I do not think Tachomotor rotateByDegrees should allow a negative number for degrees as writeUInt32LE will yield unexpected results.

node-poweredup/src/devices/tachomotor.ts

Line 157 in e4c68e5

message.writeUInt32LE(degrees, 4);

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I am not sure what normalizeAngle does, but it contains a bunch of math that eventually just cancels out.

node-poweredup/src/utils.ts

Line 36 in e4c68e5

export const normalizeAngle = (angle: number) => {

const normalizeAngle = (angle) => {
  if (angle >= 180) {
      return angle - (360 * ((angle + 180) / 360));
  } else if (angle < -180) {
      return angle + (360 * ((180 - angle) / 360));
  }
  return angle;
};

// remove (360 / 360) from equation
const normalizeAngle1 = (angle) => {
  if (angle >= 180) {
      return angle - (((angle + 180)));
  } else if (angle < -180) {
      return angle + (((180 - angle)));
  }
  return angle;
};

// remove (angle - angle) from equation
const normalizeAngle2 = (angle) => {
  if (angle >= 180) {
      return -180;
  } else if (angle < -180) {
      return 180;
  }
  return angle;
};

for (let a = -400; a < 400; a = a + 10) {
  console.log([a, normalizeAngle(a), normalizeAngle1(a), normalizeAngle2(a) ])
}

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Would you consider opening up Discussions?. I am looking for help using the Technic Large Motor to steer the off road buggy - but don't want to clutter up Issues with non-bugs.

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I used this library to make a web page to control kid's duplo train a few years ago, and it's still kicking. Just updated your lib from 1.x => 8.x. So thanks!