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