pxt-calliope/libs/core/motors.cpp

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#include "ksbit.h"
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enum MotorCommand {
//% block=coast
Coast,
//% block=break
Break,
//% block=sleep
Sleep
};
enum Motor {
A,
B,
//% block="A and B"
AB
};
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/**
* Blocks to control the onboard motors
*/
//% color=#008272 weight=30
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namespace motors {
/**
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* Turns on the motor at a certain percent of power.
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* @param power %percent of power sent to the motor. Negative power goes backward. eg: 50
*/
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//% blockId=motor_on block="motor on at %percent"
//% parts=dcmotor weight=90 blockGap=8
void motorPower(int power) {
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uBit.soundmotor.Motor_On(power);
}
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/**
* Send break, coast or sleep commands to the motor
*/
//% blockId=motor_command block="motor %command"
//% parts=dcmotor weight=85
void motorCommand(MotorCommand command) {
switch(command) {
case MotorCommand::Coast: uBit.soundmotor.Motor_Coast();break;
case MotorCommand::Break: uBit.soundmotor.Motor_Break();break;
case MotorCommand::Sleep: uBit.soundmotor.Motor_Sleep();break;
}
}
/**
* Controls two motors attached to the board.
*/
//% blockId=block_dual_motor block="motor %motor|at %percent"
//% weight=80
void dualMotorPower(Motor motor, int duty_percent) {
switch(motor) {
case Motor::A: if (duty_percent <= 0) uBit.soundmotor.MotorA_Off();
else uBit.soundmotor.MotorA_On(duty_percent); break;
case Motor::B: if (duty_percent <= 0) uBit.soundmotor.MotorB_Off();
else uBit.soundmotor.MotorB_On(duty_percent); break;
case Motor::AB: if (duty_percent <= 0) {
uBit.soundmotor.MotorA_Off();
uBit.soundmotor.MotorB_Off();
} else {
uBit.soundmotor.MotorA_On(duty_percent);
uBit.soundmotor.MotorB_On(duty_percent);
}
break;
}
}
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}