refactoring IR

libs/core/_locales/core-jsdoc-strings.json

@@ -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.onObjectNear": "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.onObjectNear|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|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.",

libs/core/_locales/core-strings.json

@@ -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",

libs/core/ir.ts

@@ -54,10 +54,10 @@ namespace input {
             }
 
             // make sure sensors are up
-            create(infrared1)
+            create(infraredSensor1)
-            create(infrared2)
+            create(infraredSensor2)
-            create(infrared3)
+            create(infraredSensor3)
-            create(infrared4)
+            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) {
+            if (this.mode == IrSensorMode.RemoteControl) {
-                let v = !!(curr & (1 << i))
+                for (let i = 0; i < buttons.length; ++i) {
-                buttons[i].update(v)
+                    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
+    //% fixedInstance whenUsed block="infrared sensor 1"
-    export const infrared1: InfraredSensor = new InfraredSensor(1)
+    export const infraredSensor1: InfraredSensor = new InfraredSensor(1)
 
-    //% fixedInstance whenUsed
+    //% fixedInstance whenUsed block="infrared sensor 2"
-    export const infrared2: InfraredSensor = new InfraredSensor(2)
+    export const infraredSensor2: InfraredSensor = new InfraredSensor(2)
 
-    //% fixedInstance whenUsed
+    //% fixedInstance whenUsed block="infrared sensor 3"
-    export const infrared3: InfraredSensor = new InfraredSensor(3)
+    export const infraredSensor3: InfraredSensor = new InfraredSensor(3)
 
-    //% fixedInstance whenUsed
+    //% fixedInstance whenUsed block="infrared sensor 4"
-    export const infrared4: InfraredSensor = new InfraredSensor(4)
+    export const infraredSensor4: InfraredSensor = new InfraredSensor(4)
 
     /**
      * Remote top-left button.

libs/core/ns.ts

@@ -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 {
 }

libs/core/ultrasonic.ts

@@ -1,5 +1,7 @@
-enum UltrasonicEvent {
+const enum PromixityEvent {
-    ObjectClose = 1,
+    //% 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
+            return d < this.promixityThreshold ? PromixityEvent.ObjectNear
-                : d > this.threshold + 5 ? UltrasonicEvent.ObjectDetected
+                : 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) {
+        //% distance.min=1 distance.max=250
-            this.threshold = Math.max(1, Math.min(95, distance));
+        onObjectNear(distance: number, handler: () => void) {
-            control.onEvent(this._id, UltrasonicEvent.ObjectClose, handler);
+            this.promixityThreshold = Math.max(1, Math.min(95, distance));
-            this._setMode(0)
+            control.onEvent(this._id, PromixityEvent.ObjectNear, handler);
-            if (this._query() == UltrasonicEvent.ObjectClose)
+            if (this.distance() == PromixityEvent.ObjectNear)
                 control.runInBackground(handler);
         }