From 83bd1ed3e161753913f622c27859a9f61a6525fe Mon Sep 17 00:00:00 2001
From: Peli de Halleux <jhalleux@microsoft.com>
Date: Wed, 2 Nov 2016 22:35:00 -0700
Subject: [PATCH] support for motor commands

---
 libs/core/enums.d.ts    | 18 +++++++++++++
 libs/core/motors.cpp    | 59 ++++++++++++++++++++++++++++++++++++++---
 libs/core/shims.d.ts    | 22 ++++++++++++---
 sim/state/soundmotor.ts |  7 ++++-
 4 files changed, 97 insertions(+), 9 deletions(-)

diff --git a/libs/core/enums.d.ts b/libs/core/enums.d.ts
index eb921b58..c546d312 100644
--- a/libs/core/enums.d.ts
+++ b/libs/core/enums.d.ts
@@ -240,6 +240,24 @@ declare namespace control {
     }
 declare namespace led {
 }
+
+
+    declare enum MotorCommand {
+    //% block=coast
+    Coast = 0,
+    //% block=break
+    Break = 1,
+    //% block=sleep
+    Sleep = 2,
+    }
+
+
+    declare enum Motor {
+    A = 0,
+    B = 1,
+    //% block="A and B"
+    AB = 2,
+    }
 declare namespace motors {
 }
 
diff --git a/libs/core/motors.cpp b/libs/core/motors.cpp
index 94ae562c..d04a6837 100644
--- a/libs/core/motors.cpp
+++ b/libs/core/motors.cpp
@@ -1,17 +1,68 @@
 #include "ksbit.h"
 
+enum MotorCommand {
+    //% block=coast
+    Coast,
+    //% block=break
+    Break,
+    //% block=sleep
+    Sleep
+};
+
+enum Motor {
+    A,
+    B,
+    //% block="A and B"
+    AB
+};
+
 /**
 * Blocks to control the onboard motors
 */
 //% color=#008272 weight=30
 namespace motors {
     /**
-    * Controls the power sent to a single motor
+    * Turns on the motor at a certain percent of power.
     * @param power %percent of power sent to the motor. Negative power goes backward. eg: 50
     */
-    //% blockId=motor_on block="motor on at %percent|%"
-    //% parts=dcmotor
-    void motorOn(int power) {
+    //% blockId=motor_on block="motor on at %percent"
+    //% parts=dcmotor weight=90 blockGap=8
+    void motorPower(int power) {
         uBit.soundmotor.Motor_On(power);
     }
+
+    /**
+    * 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;
+        }
+    }
 }
\ No newline at end of file
diff --git a/libs/core/shims.d.ts b/libs/core/shims.d.ts
index 310d3cb2..25f3dd11 100644
--- a/libs/core/shims.d.ts
+++ b/libs/core/shims.d.ts
@@ -517,12 +517,26 @@ declare namespace led {
 declare namespace motors {
 
     /**
-     * Controls the power sent to a single motor
+     * Turns on the motor at a certain percent of power.
      * @param power %percent of power sent to the motor. Negative power goes backward. eg: 50
      */
-    //% blockId=motor_on block="motor on at %percent|%"
-    //% parts=dcmotor shim=motors::motorOn
-    function motorOn(power: number): void;
+    //% blockId=motor_on block="motor on at %percent"
+    //% parts=dcmotor weight=90 blockGap=8 shim=motors::motorPower
+    function motorPower(power: number): void;
+
+    /**
+     * Send break, coast or sleep commands to the motor
+     */
+    //% blockId=motor_command block="motor %command"
+    //% parts=dcmotor weight=85 shim=motors::motorCommand
+    function motorCommand(command: MotorCommand): void;
+
+    /**
+     * Controls two motors attached to the board.
+     */
+    //% blockId=block_dual_motor block="motor %motor|at %percent"
+    //% weight=80 shim=motors::dualMotorPower
+    function dualMotorPower(motor: Motor, duty_percent: number): void;
 }
 declare namespace music {
 
diff --git a/sim/state/soundmotor.ts b/sim/state/soundmotor.ts
index 71f4386b..b6f23099 100644
--- a/sim/state/soundmotor.ts
+++ b/sim/state/soundmotor.ts
@@ -1,5 +1,10 @@
 namespace pxsim.motors {
-    export function motorOn(power: number) {
+    export function motorPower(power: number) {
         // TODO
     }
+    export function motorCommand(command: MotorCommand) {
+
+    }
+    export function dualMotorPower(motor: Motor, percent: number) {
+    }
 }