57 lines
1.7 KiB
TypeScript
57 lines
1.7 KiB
TypeScript
|
namespace behaviors {
|
||
|
|
class AvoidCrashBehavior extends behaviors.Behavior {
|
||
|
|
private ultrasonic: sensors.UltraSonicSensor;
|
||
|
|
constructor(ultrasonic: sensors.UltraSonicSensor) {
|
||
|
|
super();
|
||
|
|
this.ultrasonic = ultrasonic;
|
||
|
|
}
|
||
|
|
|
||
|
|
shouldRun(): boolean {
|
||
|
|
return this.ultrasonic.distance() < 5;
|
||
|
|
}
|
||
|
|
|
||
|
|
run(): void {
|
||
|
|
motors.stopAllMotors();
|
||
|
|
this.active = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* A behavior that stops all motors if the sensor distance get too short
|
||
|
|
*/
|
||
|
|
//% blockId=behaviorsAvoidCrash block="avoid crash using %ultrasonic"
|
||
|
|
export function avoidCrash(ultrasonic: sensors.UltraSonicSensor) : behaviors.Behavior {
|
||
|
|
return new AvoidCrashBehavior(ultrasonic);
|
||
|
|
}
|
||
|
|
|
||
|
|
class DriveForwardBehavior extends behaviors.Behavior {
|
||
|
|
private motors: motors.MotorBase;
|
||
|
|
private speed: number;
|
||
|
|
constructor(motors: motors.MotorBase, speed: number) {
|
||
|
|
super();
|
||
|
|
this.motors = motors;
|
||
|
|
this.speed = speed;
|
||
|
|
}
|
||
|
|
|
||
|
|
shouldRun(): boolean {
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
run(): void {
|
||
|
|
this.motors.setSpeed(this.speed);
|
||
|
|
pauseUntil(() => !this.active);
|
||
|
|
this.motors.setSpeed(0);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* A behavior that turns on the motors to the specified speed
|
||
|
|
* @param motors
|
||
|
|
* @param speed the desired speed, eg: 50
|
||
|
|
*/
|
||
|
|
//% blockId=behaviorsDriveForward block="drive %motors|forward at %speed|%"
|
||
|
|
export function driveForward(motors: motors.MotorBase, speed: number): behaviors.Behavior {
|
||
|
|
return new DriveForwardBehavior(motors, speed);
|
||
|
|
}
|
||
|
|
}
|