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refactoring IR

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This commit is contained in:
Peli de Halleux
2017-10-26 20:51:13 -07:00
parent 6b44352839
commit 282134f5dc
5 changed files with 87 additions and 42 deletions
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9
libs/core/_locales/core-jsdoc-strings.json
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@@ -32,15 +32,18 @@
"input.ColorSensor.reflectedLight": "Get current reflected light value from the color sensor.",
"input.GyroSensor.angle": "Get the current angle from the gyroscope.",
"input.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
"input.InfraredSensor.onObjectNear": "Registers code to run when an object is getting near",
"input.InfraredSensor.onObjectNear|param|distance": "the proximity, eg: 10",
"input.InfraredSensor.onObjectNear|param|handler": "the code to run when detected",
"input.InfraredSensor.proximity": "Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)",
"input.InfraredSensor.remoteCommand": "Get the remote commandreceived the infrared sensor.",
"input.TouchSensor.isTouched": "Check if touch sensor is touched.",
"input.TouchSensor.onEvent": "Do something when a touch sensor is touched...",
"input.TouchSensor.onEvent|param|body": "code to run when the event is raised",
"input.UltraSonicSensor.distance": "Gets the distance from the sonar in millimeters",
"input.UltraSonicSensor.onObject": "Registers code to run when the given color is close",
"input.UltraSonicSensor.onObject|param|distance": "the distance in centimeters when an object is close, eg: 10",
"input.UltraSonicSensor.onObject|param|handler": "the code to run when detected",
"input.UltraSonicSensor.onObjectNear": "Registers code to run when the given color is close",
"input.UltraSonicSensor.onObjectNear|param|distance": "the distance in centimeters when an object is close, eg: 10",
"input.UltraSonicSensor.onObjectNear|param|handler": "the code to run when detected",
"input.buttonDown": "Down button on the EV3 Brick.",
"input.buttonEnter": "Enter button on the EV3 Brick.",
"input.buttonLeft": "Left button on the EV3 Brick.",

9
libs/core/_locales/core-strings.json
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@@ -25,6 +25,8 @@
"Output.B|block": "B",
"Output.C|block": "C",
"Output.D|block": "D",
"PromixityEvent.ObjectDetected|block": "object detected",
"PromixityEvent.ObjectNear|block": "object near",
"TouchSensorEvent.Bumped|block": "bumped",
"TouchSensorEvent.Pressed|block": "pressed",
"TouchSensorEvent.Released|block": "released",
@@ -39,12 +41,13 @@
"input.ColorSensor.reflectedLight|block": "%color| reflected light",
"input.GyroSensor.angle|block": "%sensor|angle",
"input.GyroSensor.rate|block": "%sensor|rotation rate",
"input.InfraredSensor.onObjectNear|block": "on %sensor|object within %distance",
"input.InfraredSensor.proximity|block": "%infrared|proximity",
"input.InfraredSensor.remoteCommand|block": "%infrared|remote command",
"input.TouchSensor.isTouched|block": "%sensor|is touched",
"input.TouchSensor.onEvent|block": "on %sensor|%event",
"input.UltraSonicSensor.distance|block": "%sensor|distance",
"input.UltraSonicSensor.onObject|block": "on %sensor|object within %distance|cm",
"input.UltraSonicSensor.onObjectNear|block": "on %sensor|object within %distance|cm",
"input.buttonDown|block": "brick button down",
"input.buttonEnter|block": "brick button enter",
"input.buttonLeft|block": "brick button left",
@@ -58,6 +61,10 @@
"input.gyro2|block": "gyro sensor 2",
"input.gyro3|block": "gyro sensor 3",
"input.gyro4|block": "gyro sensor 4",
"input.infraredSensor1|block": "infrared sensor 1",
"input.infraredSensor2|block": "infrared sensor 2",
"input.infraredSensor3|block": "infrared sensor 3",
"input.infraredSensor4|block": "infrared sensor 4",
"input.remoteBottomLeft|block": "remote bottom-left",
"input.remoteBottomRight|block": "remote bottom-right",
"input.remoteCenter|block": "remote center",

81
libs/core/ir.ts
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@@ -54,10 +54,10 @@ namespace input {
}
// make sure sensors are up
create(infrared1)
create(infrared2)
create(infrared3)
create(infrared4)
create(infraredSensor1)
create(infraredSensor2)
create(infraredSensor3)
create(infraredSensor4)
}
let num = -1
@@ -68,30 +68,43 @@ namespace input {
num = Math.clamp(0, buttons.length - 1, num)
return buttons[num]
}
//% fixedInstances
export class InfraredSensor extends internal.UartSensor {
private channel: IrRemoteChannel
private channel: IrRemoteChannel;
private proximityThreshold: number;
constructor(port: number) {
super(port)
this.channel = IrRemoteChannel.Ch0
this.proximityThreshold = 10;
irButton(0) // make sure buttons array is initalized
// and set the mode, as otherwise button events won't work
this.mode = IrSensorMode.RemoteControl
this.mode = IrSensorMode.RemoteControl;
}
_query() {
if (this.mode == IrSensorMode.RemoteControl)
return mapButton(this.getNumber(NumberFormat.UInt8LE, this.channel))
return mapButton(this.getNumber(NumberFormat.UInt8LE, this.channel));
else if (this.mode == IrSensorMode.Proximity) {
const d = this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
return d < this.proximityThreshold ? PromixityEvent.ObjectNear
: d > this.proximityThreshold + 5 ? PromixityEvent.ObjectDetected
: 0;
}
return 0
}
_update(prev: number, curr: number) {
for (let i = 0; i < buttons.length; ++i) {
let v = !!(curr & (1 << i))
buttons[i].update(v)
if (this.mode == IrSensorMode.RemoteControl) {
for (let i = 0; i < buttons.length; ++i) {
let v = !!(curr & (1 << i))
buttons[i].update(v)
}
} else {
if (curr)
control.raiseEvent(this._id, curr);
}
}
@@ -102,13 +115,33 @@ namespace input {
setRemoteChannel(c: IrRemoteChannel) {
c = Math.clamp(0, 3, c | 0)
this.channel = c
this.setMode(IrSensorMode.RemoteControl)
this._setMode(IrSensorMode.RemoteControl)
}
setMode(m: IrSensorMode) {
_setMode(m: IrSensorMode) {
this._setMode(m)
}
/**
* Registers code to run when an object is getting near
* @param distance the proximity, eg: 10
* @param handler the code to run when detected
*/
//% help=input/infrared/on-object-near
//% block="on %sensor|object within %distance"
//% blockId=infraredOnObjectNear
//% parts="infraredsensor"
//% blockNamespace=input
//% weight=100 blockGap=8
//% distance.min=1 distance.max=95
//% group="Infrared Sensor"
onObjectNear(distance: number, handler: () => void) {
this.proximityThreshold = Math.max(1, Math.min(95, distance));
control.onEvent(this._id, PromixityEvent.ObjectNear, handler);
if (this.proximity() == PromixityEvent.ObjectNear)
control.runInBackground(handler);
}
/**
* Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)
* @param ir the infrared sensor
@@ -121,7 +154,7 @@ namespace input {
//% weight=65 blockGap=8
//% group="Infrared Sensor"
proximity() {
this.setMode(IrSensorMode.Proximity)
this._setMode(IrSensorMode.Proximity)
return this.getNumber(NumberFormat.UInt8LE, 0)
}
@@ -137,28 +170,28 @@ namespace input {
//% weight=65 blockGap=8
//% group="Infrared Sensor"
remoteCommand() {
this.setMode(IrSensorMode.RemoteControl)
this._setMode(IrSensorMode.RemoteControl)
return this.getNumber(NumberFormat.UInt8LE, this.channel)
}
// TODO
getDirectionAndDistance() {
this.setMode(IrSensorMode.Seek)
this._setMode(IrSensorMode.Seek)
return this.getNumber(NumberFormat.UInt16LE, this.channel * 2)
}
}
//% fixedInstance whenUsed
export const infrared1: InfraredSensor = new InfraredSensor(1)
//% fixedInstance whenUsed block="infrared sensor 1"
export const infraredSensor1: InfraredSensor = new InfraredSensor(1)
//% fixedInstance whenUsed
export const infrared2: InfraredSensor = new InfraredSensor(2)
//% fixedInstance whenUsed block="infrared sensor 2"
export const infraredSensor2: InfraredSensor = new InfraredSensor(2)
//% fixedInstance whenUsed
export const infrared3: InfraredSensor = new InfraredSensor(3)
//% fixedInstance whenUsed block="infrared sensor 3"
export const infraredSensor3: InfraredSensor = new InfraredSensor(3)
//% fixedInstance whenUsed
export const infrared4: InfraredSensor = new InfraredSensor(4)
//% fixedInstance whenUsed block="infrared sensor 4"
export const infraredSensor4: InfraredSensor = new InfraredSensor(4)
/**
* Remote top-left button.

2
libs/core/ns.ts
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@@ -1,5 +1,5 @@
//% color="#B4009E" weight=98 icon="\uf192"
//% groups='["Touch Sensor", "Color Sensor", "Ultrasonic Sensor", "Infrared Sensor", "Remote", "Brick", "Gyro Sensor"]'
//% groups='["Brick", "Touch Sensor", "Color Sensor", "Ultrasonic Sensor", "Infrared Sensor", "Remote", "Gyro Sensor"]'
namespace input {
}

28
libs/core/ultrasonic.ts
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@@ -1,5 +1,7 @@
enum UltrasonicEvent {
ObjectClose = 1,
const enum PromixityEvent {
//% block="object near"
ObjectNear = 1,
//% block="object detected"
ObjectDetected = 2
}
@@ -7,11 +9,11 @@ namespace input {
//% fixedInstances
export class UltraSonicSensor extends internal.UartSensor {
private threshold: number;
private promixityThreshold: number;
constructor(port: number) {
super(port)
this.threshold = 10;
this.promixityThreshold = 10;
}
_deviceType() {
@@ -20,8 +22,8 @@ namespace input {
_query(): number {
const d = this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
return d < this.threshold ? UltrasonicEvent.ObjectClose
: d > this.threshold + 5 ? UltrasonicEvent.ObjectDetected
return d < this.promixityThreshold ? PromixityEvent.ObjectNear
: d > this.promixityThreshold + 5 ? PromixityEvent.ObjectDetected
: 0;
}
@@ -35,18 +37,18 @@ namespace input {
* @param distance the distance in centimeters when an object is close, eg: 10
* @param handler the code to run when detected
*/
//% help=input/ultrasonic/on-object
//% help=input/ultrasonic/on-object-near
//% block="on %sensor|object within %distance|cm"
//% blockId=ultrasonicOnObjectClose
//% parts="ultrasonicsensor"
//% parts="infraredsensor"
//% blockNamespace=input
//% weight=100 blockGap=8
//% group="Ultrasonic Sensor"
onObject(distance: number, handler: () => void) {
this.threshold = Math.max(1, Math.min(95, distance));
control.onEvent(this._id, UltrasonicEvent.ObjectClose, handler);
this._setMode(0)
if (this._query() == UltrasonicEvent.ObjectClose)
//% distance.min=1 distance.max=250
onObjectNear(distance: number, handler: () => void) {
this.promixityThreshold = Math.max(1, Math.min(95, distance));
control.onEvent(this._id, PromixityEvent.ObjectNear, handler);
if (this.distance() == PromixityEvent.ObjectNear)
control.runInBackground(handler);
}