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microsoft · Oct 3, 2023 · 1592905 · 1592905
1 parent dd8896b
commit 1592905
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Showing 2 changed files with 15 additions and 23 deletions.
diff --git a/jacs_topwriter.ts b/jacs_topwriter.ts
@@ -1129,9 +1129,7 @@ namespace jacs {
                                     wr.emitIf(
                                         wr.emitExpr(Op.EXPR2_LT, [
                                             literal(
-                                                microcode.robots
-                                                    .RobotCompactCommand
-                                                    .ObstacleState
+                                                microcode.robots.RobotCompactCommand.ObstacleState
                                             ),
                                             radioVar.read(wr),
                                         ]),
@@ -1142,17 +1140,15 @@ namespace jacs {
                                                     wr.emitExpr(Op.EXPR2_SUB, [
                                                         radioVar.read(wr),
                                                         literal(
-                                                            microcode.robots
-                                                                .RobotCompactCommand
-                                                                .ObstacleState
+                                                            microcode.robots.RobotCompactCommand.ObstacleState
                                                         ),
                                                     ])
                                                 )
                                                 filterValueIn(() => radioVar.read(wr))
                                             } else {
                                                 wr.emitIf(
-                                                    wr.emitExpr(Op.EXPR2_LT, [
-                                                        literal(0xfffff1f),
+                                                    wr.emitExpr(Op.EXPR2_LE, [
+                                                        literal(microcode.robots.RobotCompactCommand.LineState),
                                                         radioVar.read(wr),
                                                     ]),
                                                     () => { filterValueIn(() => radioVar.read(wr)) }
@@ -1164,11 +1160,7 @@ namespace jacs {
                                     wr.emitIf(
                                         wr.emitExpr(Op.EXPR2_LT, [
                                             radioVar.read(wr),
-                                            literal(
-                                                microcode.robots
-                                                    .RobotCompactCommand
-                                                    .ObstacleState
-                                            ),
+                                            literal(microcode.robots.RobotCompactCommand.ObstacleState),
                                         ]),
                                         () => {
                                             filterValueIn(() =>

diff --git a/tiles.ts b/tiles.ts
@@ -308,11 +308,11 @@ namespace microcode {
         addEvent(TID_FILTER_TEMP_WARMER, "temperature_event", 2)
         addEvent(TID_FILTER_TEMP_COLDER, "temperature_event", 1)
 
-        if (car_tiles) {
-            const both = addEvent(TID_FILTER_LINE_BOTH, "line", 0xfffff23)
-            const left = addEvent(TID_FILTER_LINE_LEFT, "line", 0xfffff21)
-            const right = addEvent(TID_FILTER_LINE_RIGHT, "line", 0xfffff22)
-            const neither = addEvent(TID_FILTER_LINE_NEITHER, "line", 0xfffff20)
+        if (CAR_TILES) {
+            const both = addEvent(TID_FILTER_LINE_BOTH, "line", robots.RobotCompactCommand.Both)
+            const left = addEvent(TID_FILTER_LINE_LEFT, "line", robots.RobotCompactCommand.Left)
+            const right = addEvent(TID_FILTER_LINE_RIGHT, "line", robots.RobotCompactCommand.Right  )
+            const neither = addEvent(TID_FILTER_LINE_NEITHER, "line", robots.RobotCompactCommand.LineState)
             both.jdKind = left.jdKind = right.jdKind = neither.jdKind = JdKind.Literal
 
             const line = makeSensor(TID_SENSOR_LINE, "line", 505)
@@ -534,11 +534,11 @@ namespace microcode {
 
         if (CAR_TILES) {
             const car_commands = [
-                microcode.robots.RobotCompactCommand.MotorRunForward, // forward
-                microcode.robots.RobotCompactCommand.MotorRunBackward, // reverse
-                microcode.robots.RobotCompactCommand.MotorTurnLeft, // left
-                microcode.robots.RobotCompactCommand.MotorTurnRight, // right
-                microcode.robots.RobotCompactCommand.MotorStop, // stop
+                microcode.robots.RobotCompactCommand.MotorRunForward,
+                microcode.robots.RobotCompactCommand.MotorRunBackward,
+                microcode.robots.RobotCompactCommand.MotorTurnLeft, 
+                microcode.robots.RobotCompactCommand.MotorTurnRight,
+                microcode.robots.RobotCompactCommand.MotorStop,
             ]
             make_vals(car_commands, "car", "CAR", 1)