72 lines
2.1 KiB
C++
72 lines
2.1 KiB
C++
#include "pxt.h"
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enum MotorCommand {
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//% block=coast
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Coast,
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//% block=break
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Break,
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//% block=sleep
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Sleep
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};
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enum Motor {
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A,
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B,
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//% block="A and B"
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AB
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};
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/**
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* Blocks to control the onboard motors
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*/
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//% color=#008272 weight=30 icon="\uf1b9"
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namespace motors {
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/**
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* Turns on the motor at a certain percent of power. Switches to single motor mode!
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* @param power %percent of power sent to the motor. Negative power goes backward. eg: 50
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*/
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//% blockId=motor_on block="motor on at %percent \\%"
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//% parts=dcmotor weight=90 blockGap=8
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//% percent.shadow="speedPicker"
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//% power.defl=100
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void motorPower(int power) {
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uBit.soundmotor.motorOn(power);
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}
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/**
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* Send break, coast or sleep commands to the motor. Has no effect in dual-motor mode.
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*/
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//% blockId=motor_command block="motor %command"
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//% parts=dcmotor weight=85
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void motorCommand(MotorCommand command) {
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switch(command) {
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case MotorCommand::Coast: uBit.soundmotor.motorCoast();break;
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case MotorCommand::Break: uBit.soundmotor.motorBreak();break;
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case MotorCommand::Sleep: uBit.soundmotor.motorSleep();break;
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}
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}
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/**
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* Controls two motors attached to the board. Switches to dual-motor mode!
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*/
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//% blockId=block_dual_motor block="motor %motor|at %percent \\%"
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//% percent.shadow="speedPicker"
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//% weight=80
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//% duty_percent.defl=100
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void dualMotorPower(Motor motor, int duty_percent) {
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switch(motor) {
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case Motor::A: if (duty_percent <= 0) uBit.soundmotor.motorAOff();
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else uBit.soundmotor.motorAOn(duty_percent); break;
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case Motor::B: if (duty_percent <= 0) uBit.soundmotor.motorBOff();
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else uBit.soundmotor.motorBOn(duty_percent); break;
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case Motor::AB: if (duty_percent <= 0) {
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uBit.soundmotor.motorAOff();
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uBit.soundmotor.motorBOff();
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} else {
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uBit.soundmotor.motorAOn(duty_percent);
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uBit.soundmotor.motorBOn(duty_percent);
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}
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break;
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}
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}
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} |