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Fix ActiveMotor not moving on Build HAT #2556

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Fix ActiveMotor not moving on Build HAT #2556

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cdcfe62
Initial plan
Copilot Jun 2, 2026
041db52
Add missing integral-limit param to Build HAT pid commands
Copilot Jun 2, 2026
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10 changes: 5 additions & 5 deletions src/devices/BuildHat/Brick.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -221,7 +221,7 @@ public void SetMotorPower(SensorPort port, int powerPercent)
{
// Set continuous reading
SelectCombiModesAndRead(port, new int[] { 1, 2, 3 }, false);
PortWrite($"port {(byte)port} ; pid {(byte)port} 0 0 s1 1 0 0.003 0.01 0 100; set {powerPercent}\r");
PortWrite($"port {(byte)port} ; pid {(byte)port} 0 0 s1 1 0 0.003 0.01 0 100 0.01; set {powerPercent}\r");
}
else
{
Expand Down Expand Up @@ -296,7 +296,7 @@ public void MoveMotorForSeconds(SensorPort port, double seconds, int speed, bool
ActiveMotor motor = (ActiveMotor)_elements[(byte)port];
// Set continuous reading
SelectCombiModesAndRead(port, new int[] { 1, 2, 3 }, false);
PortWrite($"port {(byte)port} ; pid {(byte)port} 0 0 s1 1 0 0.003 0.01 0 100; set pulse {speed} 0.0 {seconds.ToString(CultureInfo.InvariantCulture)} 0\r");
PortWrite($"port {(byte)port} ; pid {(byte)port} 0 0 s1 1 0 0.003 0.01 0 100 0.01; set pulse {speed} 0.0 {seconds.ToString(CultureInfo.InvariantCulture)} 0\r");
if (blocking)
{
token.WaitHandle.WaitOne((int)(seconds * 1000));
Expand Down Expand Up @@ -346,7 +346,7 @@ public void MoveMotorToAbsolutePosition(SensorPort port, int targetPosition, Pos
// Set continuous reading
SelectCombiModesAndRead(port, new int[] { 1, 2, 3 }, false);
// Ramp uses first param as initial position, second as target, third is how long, foruth is always 0
PortWrite($"port {(byte)port} ; pid {(byte)port} 0 1 s4 0.0027777778 0 5 0 .1 3 ; set ramp {actualPositionDouble.ToString(CultureInfo.InvariantCulture)} {newPosition.ToString(CultureInfo.InvariantCulture)} {duration.ToString(CultureInfo.InvariantCulture)} 0\r");
PortWrite($"port {(byte)port} ; pid {(byte)port} 0 1 s4 0.0027777778 0 5 0 .1 3 0.01 ; set ramp {actualPositionDouble.ToString(CultureInfo.InvariantCulture)} {newPosition.ToString(CultureInfo.InvariantCulture)} {duration.ToString(CultureInfo.InvariantCulture)} 0\r");
if (blocking)
{
token.WaitHandle.WaitOne((int)(duration * 1000));
Expand Down Expand Up @@ -436,7 +436,7 @@ public void MoveMotorToPosition(SensorPort port, int targetPosition, int speed,
// Set continuous reading
SelectCombiModesAndRead(port, new int[] { 1, 2, 3 }, false);
// Ramp uses first param as initial position, second as target, third is how long, foruth is always 0
PortWrite($"port {(byte)port} ; pid {(byte)port} 0 1 s4 0.0027777778 0 5 0 .1 3 ; set ramp {actualPositionDouble.ToString(CultureInfo.InvariantCulture)} {newPosition.ToString(CultureInfo.InvariantCulture)} {duration.ToString(CultureInfo.InvariantCulture)} 0\r");
PortWrite($"port {(byte)port} ; pid {(byte)port} 0 1 s4 0.0027777778 0 5 0 .1 3 0.01 ; set ramp {actualPositionDouble.ToString(CultureInfo.InvariantCulture)} {newPosition.ToString(CultureInfo.InvariantCulture)} {duration.ToString(CultureInfo.InvariantCulture)} 0\r");
if (blocking)
{
int pos = motor.Position;
Expand Down Expand Up @@ -486,7 +486,7 @@ public void MoveMotorForDegrees(SensorPort port, int targetPosition, int speed,
// Set continuous reading
SelectCombiModesAndRead(port, new int[] { 1, 2, 3 }, false);
// Ramp uses first param as initial position, second as target, third is how long, foruth is always 0
PortWrite($"port {(byte)port} ; pid {(byte)port} 0 1 s4 0.0027777778 0 5 0 .1 3 ; set ramp {actualPositionDouble.ToString(CultureInfo.InvariantCulture)} {newPosition.ToString(CultureInfo.InvariantCulture)} {duration.ToString(CultureInfo.InvariantCulture)} 0\r");
PortWrite($"port {(byte)port} ; pid {(byte)port} 0 1 s4 0.0027777778 0 5 0 .1 3 0.01 ; set ramp {actualPositionDouble.ToString(CultureInfo.InvariantCulture)} {newPosition.ToString(CultureInfo.InvariantCulture)} {duration.ToString(CultureInfo.InvariantCulture)} 0\r");
if (blocking)
{
int pos = motor.Position;
Expand Down
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