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Cooperate#985

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pelikhan merged 4 commits intostable1.2from
cooperatestable1.2
Aug 21, 2020
Merged

Cooperate#985
pelikhan merged 4 commits intostable1.2from
cooperatestable1.2

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@pelikhan pelikhan commented Aug 20, 2020 •
edited by mmoskal
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At most pause once every 20ms in injected pauses in motor/sensors.
Test

let counter = 0
let error = 0
motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations)
while (control.millis() < 10000) {
    error = sensors.color3.light(LightIntensityMode.Reflected) - 40
    motors.largeBC.steer(error * 5, 50)
    counter = counter + 1
}
brick.showNumber(counter, 1)
motors.stopAll()

Iterations without fix: 1507
Iterations with fix: 120000

@pelikhan pelikhan requested review from abchatra and mmoskal August 20, 2020 19:07
@pelikhan pelikhan merged commit a47a06a into stable1.2 Aug 21, 2020
@pelikhan pelikhan deleted the cooperatestable1.2 branch August 21, 2020 04:07
pelikhan added a commit that referenced this pull request Aug 21, 2020
@pelikhan
cherry-pick Cooperate (#985)
f0821f8 
* cooperate pause

* fix math

* update lastPause before pausing

* faster cooperation

Co-authored-by: Peli de Halleux <[email protected]>
@mmoskal
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mmoskal commented Aug 21, 2020

Looks good; updated description to match code

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@mmoskal mmoskal Awaiting requested review from mmoskal

@abchatra abchatra Awaiting requested review from abchatra

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@pelikhan @mmoskal