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Update motor APIs

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This commit is contained in:
Sam El-Husseini 2017-08-07 17:39:37 -07:00
parent 88e21db35e
commit 15f50966aa
7 changed files with 107 additions and 18 deletions
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19
editor/extension.ts
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@ -29,16 +29,17 @@ namespace pxt.editor {
let initPromise: Promise<Ev3Wrapper>
function initAsync() {
const forceHexDownload = /forceHexDownload/i.test(window.location.href);
if (!initPromise && Cloud.isLocalHost() && Cloud.localToken && !forceHexDownload)
initPromise = hf2Async()
.catch(err => {
initPromise = null
noHID = true
return Promise.reject(err)
})
else {
if (Cloud.isLocalHost() && Cloud.localToken && !forceHexDownload) {
if (!initPromise)
initPromise = hf2Async()
.catch(err => {
initPromise = null
noHID = true
return Promise.reject(err)
})
} else {
noHID = true
initPromise = Promise.reject(new Error("no HID"))
initPromise = Promise.reject(new Error("no HID"))
}
return initPromise
}

16
libs/core/_locales/core-jsdoc-strings.json
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@ -21,7 +21,23 @@
"output.createBuffer": "Create a new zero-initialized buffer.",
"output.createBuffer|param|size": "number of bytes in the buffer",
"output.getPattern": "Pattern block.",
"output.getPattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
"output.setLights": "Set lights.",
"output.setLights|param|pattern": "the lights pattern to use.",
"output.setPower": "Set motor power.",
"output.setPower|param|out": "the output connection that the motor is connected to",
"output.setPower|param|power": "the desired power to use. eg: 100",
"output.setSpeed": "Set motor speed.",
"output.setSpeed|param|out": "the output connection that the motor is connected to",
"output.setSpeed|param|speed": "the desired speed to use. eg: 100",
"output.start": "Turn motor on.",
"output.start|param|out": "the output connection that the motor is connected to",
"output.stop": "Turn motor off.",
"output.stop|param|out": "the output connection that the motor is connected to",
"output.turn": "Turn a motor on for a specified number of milliseconds.",
"output.turn|param|ms": "the number of milliseconds to turn the motor on, eg: 500",
"output.turn|param|out": "the output connection that the motor is connected to",
"output.turn|param|useBrake": "whether or not to use the brake, defaults to false",
"screen.clear": "Clear screen and reset font to normal.",
"screen.doubleIcon": "Double size of an icon.",
"screen.drawIcon": "Draw an icon on the screen.",

13
libs/core/_locales/core-strings.json
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@ -3,7 +3,7 @@
"ButtonEvent.Down|block": "down",
"ButtonEvent.LongClick|block": "long click",
"ButtonEvent.Up|block": "up",
"control.raiseEvent|block": "raise event|from %src|with value value",
"control.raiseEvent|block": "raise event|from %src|with value %value",
"control|block": "control",
"input.buttonDown|block": "button down",
"input.buttonEnter|block": "button enter",
@ -17,7 +17,12 @@
"input.remoteTopRight|block": "remote top-right",
"input|block": "input",
"output.getPattern|block": "%pattern",
"output.setLights|block": "set lights %pattern=led_pattern",
"output.setLights|block": "set status light %pattern=led_pattern",
"output.setPower|block": "set motor %out| power to %power",
"output.setSpeed|block": "set motor %out| speed to %speed",
"output.start|block": "turn motor %out| on",
"output.stop|block": "turn motor %out| off",
"output.turn|block": "turn motor %out| on for %ms| milliseconds",
"output|block": "output",
"screen|block": "screen",
"serial|block": "serial",
@ -25,5 +30,7 @@
"{id:category}Input": "Input",
"{id:category}Output": "Output",
"{id:category}Screen": "Screen",
"{id:category}Serial": "Serial"
"{id:category}Serial": "Serial",
"{id:group}Lights": "Lights",
"{id:group}Motors": "Motors"
}

8
libs/core/buttons.ts
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@ -70,6 +70,7 @@ namespace input {
//% blockGap=8
//% parts="buttonpair"
//% blockNamespace=input
//% group="Brick buttons"
//% button.fieldEditor="gridpicker"
//% button.fieldOptions.width=220
//% button.fieldOptions.columns=3
@ -86,6 +87,7 @@ namespace input {
//% blockId=buttonWasPressed
//% parts="buttonpair" blockGap=8
//% blockNamespace=input advanced=true
//% group="Brick buttons"
//% button.fieldEditor="gridpicker"
//% button.fieldOptions.width=220
//% button.fieldOptions.columns=3
@ -105,6 +107,7 @@ namespace input {
//% blockId=buttonEvent block="on %button|%event"
//% parts="buttonpair"
//% blockNamespace=input
//% group="Brick buttons"
//% button.fieldEditor="gridpicker"
//% button.fieldOptions.width=220
//% button.fieldOptions.columns=3
@ -215,8 +218,10 @@ namespace output {
/**
* Set lights.
* @param pattern the lights pattern to use.
*/
//% blockId=setLights block="set lights %pattern=led_pattern"
//% blockId=setLights block="set status light %pattern=led_pattern"
//% weight=100 group="Lights"
export function setLights(pattern: number): void {
if (currPattern === pattern)
return
@ -229,6 +234,7 @@ namespace output {
/**
* Pattern block.
* @param pattern the lights pattern to use. eg: LightsPattern.Green
*/
//% blockId=led_pattern block="%pattern"
//% shim=TD_ID colorSecondary="#6e9a36"

66
libs/core/output.ts
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@ -42,6 +42,11 @@ namespace output {
pwmMM.write(buf)
}
function readPWM(buf: Buffer): void {
init()
pwmMM.read(buf);
}
function mkCmd(out: Output, cmd: number, addSize: number) {
let b = createBuffer(2 + addSize)
b.setNumber(NumberFormat.UInt8LE, 0, cmd)
@ -49,12 +54,43 @@ namespace output {
return b
}
export function stop(out: Output, useBreak = false) {
/**
* Turn a motor on for a specified number of milliseconds.
* @param out the output connection that the motor is connected to
* @param ms the number of milliseconds to turn the motor on, eg: 500
* @param useBrake whether or not to use the brake, defaults to false
*/
//% blockId=output_turn block="turn motor %out| on for %ms| milliseconds"
//% weight=100 group="Motors"
export function turn(out: Output, ms: number, useBrake = false) {
// TODO: use current power / speed configuration
output.step(out, {
power: 100,
step1: 0,
step2: ms,
step3: 0,
useBrake: useBrake
})
}
/**
* Turn motor off.
* @param out the output connection that the motor is connected to
*/
//% blockId=output_stop block="turn motor %out| off"
//% weight=90 group="Motors"
export function stop(out: Output, useBrake = false) {
let b = mkCmd(out, DAL.opOutputStop, 1)
b.setNumber(NumberFormat.UInt8LE, 2, useBreak ? 1 : 0)
b.setNumber(NumberFormat.UInt8LE, 2, useBrake ? 1 : 0)
writePWM(b)
}
/**
* Turn motor on.
* @param out the output connection that the motor is connected to
*/
//% blockId=output_start block="turn motor %out| on"
//% weight=95 group="Motors"
export function start(out: Output) {
let b = mkCmd(out, DAL.opOutputStart, 0)
writePWM(b)
@ -65,12 +101,34 @@ namespace output {
writePWM(b)
}
/*export function getSpeed(out: Output): number {
let b = mkCmd(out, DAL.opOutputSpeed, 0)
readPWM(b)
return b.getNumber(NumberFormat.Int16LE, 1)
}*/
/**
* Set motor speed.
* @param out the output connection that the motor is connected to
* @param speed the desired speed to use. eg: 100
*/
//% blockId=output_setSpeed block="set motor %out| speed to %speed"
//% weight=81 group="Motors"
//% speed.min=-100 speed.max=100
export function setSpeed(out: Output, speed: number) {
let b = mkCmd(out, DAL.opOutputSpeed, 1)
b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, speed))
writePWM(b)
}
/**
* Set motor power.
* @param out the output connection that the motor is connected to
* @param power the desired power to use. eg: 100
*/
//% blockId=output_setPower block="set motor %out| power to %power"
//% weight=80 group="Motors"
//% power.min=-100 power.max=100
export function setPower(out: Output, power: number) {
let b = mkCmd(out, DAL.opOutputPower, 1)
b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, power))
@ -90,7 +148,7 @@ namespace output {
step2: number;
step3: number;
useSteps?: boolean; // otherwise use milliseconds
useBreak?: boolean;
useBrake?: boolean;
}
export function step(out: Output, opts: StepOptions) {
@ -110,7 +168,7 @@ namespace output {
b.setNumber(NumberFormat.Int32LE, 4 + 4 * 0, opts.step1)
b.setNumber(NumberFormat.Int32LE, 4 + 4 * 1, opts.step2)
b.setNumber(NumberFormat.Int32LE, 4 + 4 * 2, opts.step3)
b.setNumber(NumberFormat.Int8LE, 4 + 4 * 3, opts.useBreak ? 1 : 0)
b.setNumber(NumberFormat.Int8LE, 4 + 4 * 3, opts.useBrake ? 1 : 0)
writePWM(b)
}

2
libs/core/shims.d.ts vendored
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@ -51,7 +51,7 @@ declare namespace control {
* @param mode optional definition of how the event should be processed after construction.
*/
//% weight=21 blockGap=12 blockId="control_raise_event"
//% block="raise event|from %src|with value value" blockExternalInputs=1 shim=control::raiseEvent
//% block="raise event|from %src|with value %value" blockExternalInputs=1 shim=control::raiseEvent
function raiseEvent(src: int32, value: int32): void;
/**

1
libs/ev3/ns.ts
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@ -4,6 +4,7 @@ namespace input {
}
//% color="#8AC044" weight=90 icon="\uf185"
//% groups="['Lights', 'Motors']"
namespace output {
}