From d3f3371a958d101bc7e4623148d8ca01f36d3d70 Mon Sep 17 00:00:00 2001
From: Joy-IT <service@joy-it.net>
Date: Tue, 26 Jan 2021 13:44:43 +0100
Subject: [PATCH] updated sensorData() for m:b V2

---
 joycar.ts | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/joycar.ts b/joycar.ts
index 7421363..ee5392e 100644
--- a/joycar.ts
+++ b/joycar.ts
@@ -540,15 +540,17 @@ namespace JoyCar {
     }
 
     // Read from IO Expander
-    function sensorData(bit: number){
-      let expander = pins.i2cReadBuffer(56, 1, true);
-      let bin = [];
-      while(expander[0] > 0) {
-        bin.push(expander[0] % 2);
-        expander[0] >>= 1;
-      }
-
-      return !(!!bin[bit]);
+    function sensorData(channel: number){
+        let expander = pins.i2cReadNumber(56, NumberFormat.UInt8LE, false);
+        let bin = ""
+        let bit = 1
+        while (expander > 0) {
+            bin = bin + ((expander & bit) ? "1" : "0")
+            expander &= ~bit
+            bit *= 2
+        }
+        while (bin.length < 8) bin = "0" + bin
+      return !parseInt(bin[channel])
     }
 
     // Mapping function
@@ -556,4 +558,4 @@ namespace JoyCar {
       return (num - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
     }
 
-}
+}
\ No newline at end of file