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Merge pull request #4 from Microsoft/blockupdate

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Blocks update
This commit is contained in:
Peli de Halleux 2017-10-24 16:56:32 -07:00 committed by GitHub
commit 3237978cba
14 changed files with 394 additions and 245 deletions
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48
libs/core/_locales/core-jsdoc-strings.json
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@ -9,6 +9,7 @@
"MMap.setNumber": "Write a number in specified format in the buffer.", "MMap.setNumber": "Write a number in specified format in the buffer.",
"MMap.slice": "Read a range of bytes into a buffer.", "MMap.slice": "Read a range of bytes into a buffer.",
"MMap.write": "Perform write(2) on the underlaying file", "MMap.write": "Perform write(2) on the underlaying file",
"TouchSensorEvent": "Touch sensor interactions",
"control": "Program controls and events.", "control": "Program controls and events.",
"control.allocateNotifyEvent": "Allocates the next user notification event", "control.allocateNotifyEvent": "Allocates the next user notification event",
"control.deviceFirmwareVersion": "Determine the version of system software currently running.", "control.deviceFirmwareVersion": "Determine the version of system software currently running.",
@ -23,15 +24,22 @@
"input.Button.onEvent": "Do something when a button or sensor is clicked, double clicked, etc...", "input.Button.onEvent": "Do something when a button or sensor is clicked, double clicked, etc...",
"input.Button.onEvent|param|body": "code to run when the event is raised", "input.Button.onEvent|param|body": "code to run when the event is raised",
"input.Button.wasPressed": "See if the button was pressed again since the last time you checked.", "input.Button.wasPressed": "See if the button was pressed again since the last time you checked.",
"input.ColorSensor.getAmbientLight": "Get current ambient light value from the color sensor.", "input.ColorSensor.ambientLight": "Get current ambient light value from the color sensor.",
"input.ColorSensor.getColor": "Get the current color from the color sensor.", "input.ColorSensor.color": "Get the current color from the color sensor.",
"input.ColorSensor.getReflectedLight": "Get current reflected light value from the color sensor.", "input.ColorSensor.reflectedLight": "Get current reflected light value from the color sensor.",
"input.UltraSonicSensor.getDistance": "Get distance in mm", "input.GyroSensor.angle": "Get the current angle from the gyroscope.",
"input.buttonDown": "Down button.", "input.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
"input.buttonEnter": "Enter button.", "input.IrSensor.distance": "Get the distance measured by the infrared sensor.",
"input.buttonLeft": "Left button.", "input.IrSensor.remoteCommand": "Get the remote commandreceived the infrared sensor.",
"input.buttonRight": "Right button.", "input.TouchSensor.isTouched": "Check if touch sensor is touched.",
"input.buttonUp": "Up button.", "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.buttonDown": "Down button on the EV3 Brick.",
"input.buttonEnter": "Enter button on the EV3 Brick.",
"input.buttonLeft": "Left button on the EV3 Brick.",
"input.buttonRight": "Right button on the EV3 Brick.",
"input.buttonUp": "Up button on the EV3 Brick.",
"input.remoteBottomLeft": "Remote bottom-left button.", "input.remoteBottomLeft": "Remote bottom-left button.",
"input.remoteBottomRight": "Remote bottom-right button.", "input.remoteBottomRight": "Remote bottom-right button.",
"input.remoteCenter": "Remote beacon (center) button.", "input.remoteCenter": "Remote beacon (center) button.",
@ -41,19 +49,19 @@
"output.createBuffer|param|size": "number of bytes in the buffer", "output.createBuffer|param|size": "number of bytes in the buffer",
"output.getCurrentSpeed": "Get motor speed.", "output.getCurrentSpeed": "Get motor speed.",
"output.getCurrentSpeed|param|out": "the output connection that the motor is connected to", "output.getCurrentSpeed|param|out": "the output connection that the motor is connected to",
"output.getPattern": "Pattern block.", "output.pattern": "Pattern block.",
"output.getPattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green", "output.pattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
"output.setLights": "Set lights.", "output.powerMotor": "Switch the motor on or off.",
"output.setLights|param|pattern": "the lights pattern to use.", "output.powerMotor|param|on": "1 to turn the motor on, 0 to turn it off",
"output.powerMotor|param|out": "the output connection that the motor is connected to",
"output.setPower": "Set motor power.", "output.setPower": "Set motor power.",
"output.setPower|param|out": "the output connection that the motor is connected to", "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.setPower|param|power": "the desired power to use. eg: 100",
"output.setSpeed": "Set motor speed.", "output.setSpeed": "Set motor speed.",
"output.setSpeed|param|out": "the output connection that the motor is connected to", "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.setSpeed|param|speed": "the desired speed to use. eg: 100",
"output.switchMotor": "Switch the motor on or off.", "output.setStatusLight": "Set lights.",
"output.switchMotor|param|on": "1 to turn the motor on, 0 to turn it off", "output.setStatusLight|param|pattern": "the lights pattern to use.",
"output.switchMotor|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": "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|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|out": "the output connection that the motor is connected to",
@ -61,10 +69,10 @@
"screen.clear": "Clear screen and reset font to normal.", "screen.clear": "Clear screen and reset font to normal.",
"screen.doubleIcon": "Double size of an icon.", "screen.doubleIcon": "Double size of an icon.",
"screen.drawIcon": "Draw an icon on the screen.", "screen.drawIcon": "Draw an icon on the screen.",
"screen.drawText": "Show text on the screen.", "screen.print": "Show text on the screen.",
"screen.drawText|param|text": "the text to print on the screen, eg: \"Hello world\"", "screen.print|param|text": "the text to print on the screen, eg: \"Hello world\"",
"screen.drawText|param|x": "the starting position's x coordinate, eg: 0", "screen.print|param|x": "the starting position's x coordinate, eg: 0",
"screen.drawText|param|y": "the starting position's x coordinate, eg: 0", "screen.print|param|y": "the starting position's x coordinate, eg: 0",
"serial": "Reading and writing data over a serial connection.", "serial": "Reading and writing data over a serial connection.",
"serial.writeDmesg": "Send DMESG debug buffer over serial." "serial.writeDmesg": "Send DMESG debug buffer over serial."
} }

63
libs/core/_locales/core-strings.json
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@ -1,7 +1,6 @@
{ {
"ButtonEvent.Click|block": "click", "ButtonEvent.Click|block": "click",
"ButtonEvent.Down|block": "down", "ButtonEvent.Down|block": "down",
"ButtonEvent.LongClick|block": "long click",
"ButtonEvent.Up|block": "up", "ButtonEvent.Up|block": "up",
"LightsPattern.GreenFlash|block": "Flashing Green", "LightsPattern.GreenFlash|block": "Flashing Green",
"LightsPattern.GreenPulse|block": "Pulsing Green", "LightsPattern.GreenPulse|block": "Pulsing Green",
@ -13,36 +12,60 @@
"LightsPattern.RedFlash|block": "Flashing Red", "LightsPattern.RedFlash|block": "Flashing Red",
"LightsPattern.RedPulse|block": "Pulsing Red", "LightsPattern.RedPulse|block": "Pulsing Red",
"LightsPattern.Red|block": "Red", "LightsPattern.Red|block": "Red",
"TouchSensorEvent.Bumped|block": "bumped",
"TouchSensorEvent.Released|block": "released",
"TouchSensorEvent.Touched|block": "touched",
"control.raiseEvent|block": "raise event|from %src|with value %value", "control.raiseEvent|block": "raise event|from %src|with value %value",
"control|block": "control", "control|block": "control",
"input.Button.isPressed|block": "%button|is pressed", "input.Button.isPressed|block": "%button|is pressed",
"input.Button.onEvent|block": "on %button|%event", "input.Button.onEvent|block": "on %button|%event",
"input.Button.wasPressed|block": "%button|was pressed", "input.Button.wasPressed|block": "%button|was pressed",
"input.ColorSensor.getAmbientLight|block": "%color| ambient light", "input.ColorSensor.ambientLight|block": "%color| ambient light",
"input.ColorSensor.getColor|block": "%color| color", "input.ColorSensor.color|block": "%color| color",
"input.ColorSensor.getReflectedLight|block": "%color| reflected light", "input.ColorSensor.reflectedLight|block": "%color| reflected light",
"input.buttonDown|block": "button down", "input.GyroSensor.angle|block": "%sensor|angle",
"input.buttonEnter|block": "button enter", "input.GyroSensor.rate|block": "%sensor|rotation rate",
"input.buttonLeft|block": "button left", "input.IrSensor.distance|block": "%infrared|distance",
"input.buttonRight|block": "button right", "input.IrSensor.remoteCommand|block": "%infrared|remote command",
"input.buttonUp|block": "button up", "input.TouchSensor.isTouched|block": "%sensor|is touched",
"input.color|block": "color sensor", "input.TouchSensor.onEvent|block": "on %sensor|%event",
"input.UltraSonicSensor.distance|block": "%sensor|distance",
"input.buttonDown|block": "brick button down",
"input.buttonEnter|block": "brick button enter",
"input.buttonLeft|block": "brick button left",
"input.buttonRight|block": "brick button right",
"input.buttonUp|block": "brick button up",
"input.color1|block": "color sensor 1",
"input.color2|block": "color sensor 2",
"input.color3|block": "color sensor 3",
"input.color4|block": "color sensor 4",
"input.gyro1|block": "gyro sensor 1",
"input.gyro2|block": "gyro sensor 2",
"input.gyro3|block": "gyro sensor 3",
"input.gyro4|block": "gyro sensor 4",
"input.remoteBottomLeft|block": "remote bottom-left", "input.remoteBottomLeft|block": "remote bottom-left",
"input.remoteBottomRight|block": "remote bottom-right", "input.remoteBottomRight|block": "remote bottom-right",
"input.remoteCenter|block": "remote center", "input.remoteCenter|block": "remote center",
"input.remoteTopLeft|block": "remote top-left", "input.remoteTopLeft|block": "remote top-left",
"input.remoteTopRight|block": "remote top-right", "input.remoteTopRight|block": "remote top-right",
"input.touchSensor|block": "touch sensor", "input.touchSensor1|block": "touch sensor 1",
"input.touchSensor2|block": "touch sensor 2",
"input.touchSensor3|block": "touch sensor 3",
"input.touchSensor4|block": "touch sensor 4",
"input.ultrasonic1|block": "ultrasonic sensor 1",
"input.ultrasonic2|block": "ultrasonic sensor 2",
"input.ultrasonic3|block": "ultrasonic sensor 3",
"input.ultrasonic4|block": "ultrasonic sensor 4",
"input|block": "input", "input|block": "input",
"output.getCurrentSpeed|block": "motor %out|speed", "output.getCurrentSpeed|block": "motor %out|speed",
"output.getPattern|block": "%pattern", "output.pattern|block": "%pattern",
"output.setLights|block": "set status light %pattern=led_pattern", "output.powerMotor|block": "power motor %out|%on",
"output.setPower|block": "set motor %out| power to %power", "output.setPower|block": "set motor %out| power to %power",
"output.setSpeed|block": "set motor %out| speed to %speed", "output.setSpeed|block": "set motor %out| speed to %speed",
"output.switchMotor|block": "turn motor %out|%on", "output.setStatusLight|block": "set status light %pattern=led_pattern",
"output.turn|block": "turn motor %out| on for %ms|milliseconds", "output.turn|block": "turn motor %out| on for %ms=timePicker|milliseconds",
"output|block": "output", "output|block": "output",
"screen.drawText|block": "print %text| at x: %x| y: %y", "screen.print|block": "print %text| at x: %x| y: %y",
"screen|block": "screen", "screen|block": "screen",
"serial|block": "serial", "serial|block": "serial",
"{id:category}Control": "Control", "{id:category}Control": "Control",
@ -51,7 +74,11 @@
"{id:category}Output": "Output", "{id:category}Output": "Output",
"{id:category}Screen": "Screen", "{id:category}Screen": "Screen",
"{id:category}Serial": "Serial", "{id:category}Serial": "Serial",
"{id:group}Lights": "Lights", "{id:group}Brick": "Brick",
"{id:group}Color Sensor": "Color Sensor",
"{id:group}Gyro Sensor": "Gyro Sensor",
"{id:group}Infrared Sensor": "Infrared Sensor",
"{id:group}Motors": "Motors", "{id:group}Motors": "Motors",
"{id:group}Screen": "Screen" "{id:group}Touch Sensor": "Touch Sensor",
"{id:group}Ultrasonic Sensor": "Ultrasonic Sensor"
} }

80
libs/core/buttons.ts
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@ -4,34 +4,34 @@
*/ */
const enum LightsPattern { const enum LightsPattern {
//% block=Off enumval=0 //% block=Off enumval=0
//% blockIdentity=output.getPattern //% blockIdentity=output.pattern
Off = 0, Off = 0,
//% block=Green enumval=1 //% block=Green enumval=1
//% blockIdentity=output.getPattern //% blockIdentity=output.pattern
Green = 1, Green = 1,
//% block=Red enumval=2 //% block=Red enumval=2
//% blockIdentity=output.getPattern //% blockIdentity=output.pattern
Red = 2, Red = 2,
//% block=Orange enumval=3 //% block=Orange enumval=3
//% blockIdentity=output.getPattern //% blockIdentity=output.pattern
Orange = 3, Orange = 3,
//% block="Flashing Green" enumval=4 //% block="Flashing Green" enumval=4
//% blockIdentity=output.getPattern //% blockIdentity=output.pattern
GreenFlash = 4, GreenFlash = 4,
//% block="Flashing Red" enumval=5 //% block="Flashing Red" enumval=5
//% blockIdentity=output.getPattern //% blockIdentity=output.pattern
RedFlash = 5, RedFlash = 5,
//% block="Flashing Orange" enumval=6 //% block="Flashing Orange" enumval=6
//% blockIdentity=output.getPattern //% blockIdentity=output.pattern
OrangeFlash = 6, OrangeFlash = 6,
//% block="Pulsing Green" enumval=7 //% block="Pulsing Green" enumval=7
//% blockIdentity=output.getPattern //% blockIdentity=output.pattern
GreenPulse = 7, GreenPulse = 7,
//% block="Pulsing Red" enumval=8 //% block="Pulsing Red" enumval=8
//% blockIdentity=output.getPattern //% blockIdentity=output.pattern
RedPulse = 8, RedPulse = 8,
//% block="Pulsing Orange" enumval=9 //% block="Pulsing Orange" enumval=9
//% blockIdentity=output.getPattern //% blockIdentity=output.pattern
OrangePulse = 9, OrangePulse = 9,
} }
@ -41,8 +41,6 @@ const enum LightsPattern {
const enum ButtonEvent { const enum ButtonEvent {
//% block="click" //% block="click"
Click = 1, Click = 1,
//% block="long click"
LongClick = 2,
//% block="up" //% block="up"
Up = 3, Up = 3,
//% block="down" //% block="down"
@ -76,7 +74,8 @@ namespace input {
} else { } else {
control.raiseEvent(this._id, ButtonEvent.Up) control.raiseEvent(this._id, ButtonEvent.Up)
let delta = control.millis() - this.downTime let delta = control.millis() - this.downTime
control.raiseEvent(this._id, delta > 500 ? ButtonEvent.LongClick : ButtonEvent.Click) control.raiseEvent(this._id, ButtonEvent.Click)
//control.raiseEvent(this._id, delta > 500 ? ButtonEvent.LongClick : ButtonEvent.Click)
} }
} }
@ -87,12 +86,10 @@ namespace input {
//% help=input/button/is-pressed //% help=input/button/is-pressed
//% block="%button|is pressed" //% block="%button|is pressed"
//% blockId=buttonIsPressed //% blockId=buttonIsPressed
//% parts="buttonpair" //% parts="brick"
//% blockNamespace=input //% blockNamespace=input
//% button.fieldEditor="gridpicker"
//% button.fieldOptions.width=220
//% button.fieldOptions.columns=3
//% weight=81 blockGap=8 //% weight=81 blockGap=8
//% group="Brick"
isPressed() { isPressed() {
return this._isPressed return this._isPressed
} }
@ -104,12 +101,10 @@ namespace input {
//% help=input/button/was-pressed //% help=input/button/was-pressed
//% block="%button|was pressed" //% block="%button|was pressed"
//% blockId=buttonWasPressed //% blockId=buttonWasPressed
//% parts="buttonpair" //% parts="brick"
//% blockNamespace=input //% blockNamespace=input
//% button.fieldEditor="gridpicker"
//% button.fieldOptions.width=220
//% button.fieldOptions.columns=3
//% weight=80 blockGap=8 //% weight=80 blockGap=8
//% group="Brick"
wasPressed() { wasPressed() {
const r = this._wasPressed const r = this._wasPressed
this._wasPressed = false this._wasPressed = false
@ -124,12 +119,10 @@ namespace input {
*/ */
//% help=input/button/on-event //% help=input/button/on-event
//% blockId=buttonEvent block="on %button|%event" //% blockId=buttonEvent block="on %button|%event"
//% parts="buttonpair" //% parts="brick"
//% blockNamespace=input //% blockNamespace=input
//% button.fieldEditor="gridpicker" //% weight=99 blockGap=8
//% button.fieldOptions.width=220 //% group="Brick"
//% button.fieldOptions.columns=3
//% weight=99
onEvent(ev: ButtonEvent, body: () => void) { onEvent(ev: ButtonEvent, body: () => void) {
control.onEvent(this._id, ev, body) control.onEvent(this._id, ev, body)
} }
@ -183,35 +176,36 @@ namespace input {
initBtns() // always ON as it handles ESCAPE button initBtns() // always ON as it handles ESCAPE button
/** /**
* Left button. * Enter button on the EV3 Brick.
*/ */
//% whenUsed block="button left" weight=95 fixedInstance //% whenUsed block="brick button enter" weight=95 fixedInstance
export const buttonEnter: Button = new DevButton(DAL.BUTTON_ID_ENTER)
/**
* Left button on the EV3 Brick.
*/
//% whenUsed block="brick button left" weight=95 fixedInstance
export const buttonLeft: Button = new DevButton(DAL.BUTTON_ID_LEFT) export const buttonLeft: Button = new DevButton(DAL.BUTTON_ID_LEFT)
/** /**
* Right button. * Right button on the EV3 Brick.
*/ */
//% whenUsed block="button right" weight=94 fixedInstance //% whenUsed block="brick button right" weight=94 fixedInstance
export const buttonRight: Button = new DevButton(DAL.BUTTON_ID_RIGHT) export const buttonRight: Button = new DevButton(DAL.BUTTON_ID_RIGHT)
/** /**
* Up button. * Up button on the EV3 Brick.
*/ */
//% whenUsed block="button up" weight=95 fixedInstance //% whenUsed block="brick button up" weight=95 fixedInstance
export const buttonUp: Button = new DevButton(DAL.BUTTON_ID_UP) export const buttonUp: Button = new DevButton(DAL.BUTTON_ID_UP)
/** /**
* Down button. * Down button on the EV3 Brick.
*/ */
//% whenUsed block="button down" weight=95 fixedInstance //% whenUsed block="brick button down" weight=95 fixedInstance
export const buttonDown: Button = new DevButton(DAL.BUTTON_ID_DOWN) export const buttonDown: Button = new DevButton(DAL.BUTTON_ID_DOWN)
/**
* Enter button.
*/
//% whenUsed block="button enter" weight=95 fixedInstance
export const buttonEnter: Button = new DevButton(DAL.BUTTON_ID_ENTER)
} }
@ -240,8 +234,8 @@ namespace output {
* @param pattern the lights pattern to use. * @param pattern the lights pattern to use.
*/ */
//% blockId=setLights block="set status light %pattern=led_pattern" //% blockId=setLights block="set status light %pattern=led_pattern"
//% weight=100 group="Lights" //% weight=100 group="Brick"
export function setLights(pattern: number): void { export function setStatusLight(pattern: number): void {
if (currPattern === pattern) if (currPattern === pattern)
return return
currPattern = pattern currPattern = pattern
@ -258,7 +252,7 @@ namespace output {
//% blockId=led_pattern block="%pattern" //% blockId=led_pattern block="%pattern"
//% shim=TD_ID colorSecondary="#6e9a36" //% shim=TD_ID colorSecondary="#6e9a36"
//% blockHidden=true useEnumVal=1 pattern.fieldOptions.decompileLiterals=1 //% blockHidden=true useEnumVal=1 pattern.fieldOptions.decompileLiterals=1
export function getPattern(pattern: LightsPattern): number { export function pattern(pattern: LightsPattern): number {
return pattern; return pattern;
} }
} }

26
libs/core/color.ts
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@ -23,8 +23,8 @@ namespace input {
//% fixedInstances //% fixedInstances
export class ColorSensor extends internal.UartSensor { export class ColorSensor extends internal.UartSensor {
constructor() { constructor(port: number) {
super() super(port)
} }
_deviceType() { _deviceType() {
@ -45,7 +45,8 @@ namespace input {
//% parts="colorsensor" //% parts="colorsensor"
//% blockNamespace=input //% blockNamespace=input
//% weight=65 blockGap=8 //% weight=65 blockGap=8
getAmbientLight() { //% group="Color Sensor"
ambientLight() {
this.setMode(ColorSensorMode.Ambient) this.setMode(ColorSensorMode.Ambient)
return this.getNumber(NumberFormat.UInt8LE, 0) return this.getNumber(NumberFormat.UInt8LE, 0)
} }
@ -60,7 +61,8 @@ namespace input {
//% parts="colorsensor" //% parts="colorsensor"
//% blockNamespace=input //% blockNamespace=input
//% weight=64 blockGap=8 //% weight=64 blockGap=8
getReflectedLight(): number { //% group="Color Sensor"
reflectedLight(): number {
this.setMode(ColorSensorMode.Reflect) this.setMode(ColorSensorMode.Reflect)
return this.getNumber(NumberFormat.UInt8LE, 0) return this.getNumber(NumberFormat.UInt8LE, 0)
} }
@ -75,12 +77,22 @@ namespace input {
//% parts="colorsensor" //% parts="colorsensor"
//% blockNamespace=input //% blockNamespace=input
//% weight=66 blockGap=8 //% weight=66 blockGap=8
getColor(): ColorSensorColor { //% group="Color Sensor"
color(): ColorSensorColor {
this.setMode(ColorSensorMode.Color) this.setMode(ColorSensorMode.Color)
return this.getNumber(NumberFormat.UInt8LE, 0) return this.getNumber(NumberFormat.UInt8LE, 0)
} }
} }
//% whenUsed block="color sensor" weight=95 fixedInstance //% whenUsed block="color sensor 3" weight=95 fixedInstance
export const color: ColorSensor = new ColorSensor() export const color3: ColorSensor = new ColorSensor(3)
//% whenUsed block="color sensor 1" weight=95 fixedInstance
export const color1: ColorSensor = new ColorSensor(1)
//% whenUsed block="color sensor 2" weight=95 fixedInstance
export const color2: ColorSensor = new ColorSensor(2)
//% whenUsed block="color sensor 4" weight=95 fixedInstance
export const color4: ColorSensor = new ColorSensor(4)
} }

44
libs/core/gyro.ts
View File

@ -5,9 +5,10 @@ const enum GyroSensorMode {
} }
namespace input { namespace input {
//% fixedInstances
export class GyroSensor extends internal.UartSensor { export class GyroSensor extends internal.UartSensor {
constructor() { constructor(port: number) {
super() super(port)
} }
_deviceType() { _deviceType() {
@ -18,17 +19,48 @@ namespace input {
this._setMode(m) this._setMode(m)
} }
getAngle() { /**
* Get the current angle from the gyroscope.
* @param sensor the gyroscope to query the request
*/
//% help=input/gyro/angle
//% block="%sensor|angle"
//% blockId=gyroGetAngle
//% parts="gyroscope"
//% blockNamespace=input
//% weight=65 blockGap=8
//% group="Gyro Sensor"
angle() {
this.setMode(GyroSensorMode.Angle) this.setMode(GyroSensorMode.Angle)
return this.getNumber(NumberFormat.Int16LE, 0) return this.getNumber(NumberFormat.Int16LE, 0)
} }
getRate() { /**
* Get the current rotation rate from the gyroscope.
* @param sensor the gyroscope to query the request
*/
//% help=input/gyro/rate
//% block="%sensor|rotation rate"
//% blockId=gyroGetRate
//% parts="gyroscope"
//% blockNamespace=input
//% weight=65 blockGap=8
//% group="Gyro Sensor"
rate() {
this.setMode(GyroSensorMode.Rate) this.setMode(GyroSensorMode.Rate)
return this.getNumber(NumberFormat.Int16LE, 0) return this.getNumber(NumberFormat.Int16LE, 0)
} }
} }
//% whenUsed //% fixedInstance whenUsed block="gyro sensor 2"
export const gyro: GyroSensor = new GyroSensor() export const gyro2: GyroSensor = new GyroSensor(2)
//% fixedInstance whenUsed block="gyro sensor 1"
export const gyro1: GyroSensor = new GyroSensor(1)
//% fixedInstance whenUsed block="gyro sensor 3"
export const gyro3: GyroSensor = new GyroSensor(3)
//% fixedInstance whenUsed block="gyro sensor 4"
export const gyro4: GyroSensor = new GyroSensor(4)
} }

128
libs/core/input.ts
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@ -27,30 +27,27 @@ namespace input.internal {
let analogMM: MMap let analogMM: MMap
let uartMM: MMap let uartMM: MMap
let devcon: Buffer let devcon: Buffer
let sensors: SensorInfo[] let sensorInfos: SensorInfo[]
let autoSensors: Sensor[]
class SensorInfo { class SensorInfo {
port: number port: number
sensor: Sensor sensor: Sensor
sensors: Sensor[]
connType: number connType: number
devType: number devType: number
manual: boolean
constructor(p: number) { constructor(p: number) {
this.port = p this.port = p
this.connType = DAL.CONN_NONE this.connType = DAL.CONN_NONE
this.devType = DAL.DEVICE_TYPE_NONE this.devType = DAL.DEVICE_TYPE_NONE
this.sensor = null this.sensors = []
this.manual = false
} }
} }
function init() { function init() {
if (sensors) return if (sensorInfos) return
sensors = [] sensorInfos = []
for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensors.push(new SensorInfo(i)) for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensorInfos.push(new SensorInfo(i))
autoSensors = []
devcon = output.createBuffer(DevConOff.Size) devcon = output.createBuffer(DevConOff.Size)
analogMM = control.mmap("/dev/lms_analog", AnalogOff.Size, 0) analogMM = control.mmap("/dev/lms_analog", AnalogOff.Size, 0)
@ -64,7 +61,7 @@ namespace input.internal {
loops.pause(500) loops.pause(500)
}) })
for (let info_ of sensors) { for (let info_ of sensorInfos) {
let info = info_ let info = info_
unsafePollForChanges(50, () => { unsafePollForChanges(50, () => {
if (info.sensor) return info.sensor._query() if (info.sensor) return info.sensor._query()
@ -90,7 +87,7 @@ namespace input.internal {
let conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS) let conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
let numChanged = 0 let numChanged = 0
for (let info of sensors) { for (let info of sensorInfos) {
let newConn = conns[info.port] let newConn = conns[info.port]
if (newConn == info.connType) if (newConn == info.connType)
continue continue
@ -117,77 +114,42 @@ namespace input.internal {
if (numChanged == 0) if (numChanged == 0)
return return
let autos = sensors.filter(s => !s.manual) for (let si of sensorInfos) {
if (si.sensor && si.sensor._deviceType() != si.devType) {
// first free up disconnected sensors si.sensor = null
for (let info of autos) { }
if (info.sensor && info.devType == DAL.DEVICE_TYPE_NONE) if (si.devType != DAL.DEVICE_TYPE_NONE) {
info.sensor._setPort(0) si.sensor = si.sensors.filter(s => s._deviceType() == si.devType)[0] || null
} if (si.sensor == null) {
control.dmesg(`sensor not found for type=${si.devType} at ${si.port}`)
for (let info of autos) { } else {
if (!info.sensor && info.devType != DAL.DEVICE_TYPE_NONE) { control.dmesg(`sensor connected type=${si.devType} at ${si.port}`)
let found = false si.sensor._activated()
for (let s of autoSensors) {
if (s.getPort() == 0 && s._deviceType() == info.devType) {
s._setPort(info.port + 1)
found = true
break
}
} }
if (!found)
control.dmesg(`sensor not found for type=${info.devType} at ${info.port}`)
} }
} }
} }
export class Sensor extends control.Component { export class Sensor extends control.Component {
protected port: number protected port: number // this is 0-based
constructor() { constructor(port_: number) {
super() super()
if (!(1 <= port_ && port_ <= DAL.NUM_INPUTS))
control.panic(120)
this.port = port_ - 1
init() init()
this.port = -1
let tp = this._deviceType()
if (autoSensors.filter(s => s._deviceType() == tp).length == 0) {
autoSensors.push(this)
}
} }
// 0 - disable, 1-4 port number _activated() { }
_setPort(port: number, manual = false) {
port = Math.clamp(0, 4, port | 0) - 1;
if (port == this.port) return
this.port = port
control.dmesg(`sensor set port ${port} on devtype=${this._deviceType()}`)
for (let i = 0; i < sensors.length; ++i) {
if (i != this.port && sensors[i].sensor == this) {
sensors[i].sensor = null
sensors[i].manual = false
}
}
if (this.port >= 0) {
let prev = sensors[this.port].sensor
if (prev && prev != this)
prev._setPort(0)
sensors[this.port].sensor = this
sensors[this.port].manual = manual
}
this._portUpdated()
}
protected _portUpdated() { }
setPort(port: number) {
this._setPort(port, true)
}
// 1-based
getPort() { getPort() {
return this.port + 1 return this.port + 1
} }
isManual() { isActive() {
return this.port >= 0 && sensors[this.port].manual return sensorInfos[this.port].sensor == this
} }
_query() { _query() {
@ -203,12 +165,12 @@ namespace input.internal {
} }
export class AnalogSensor extends Sensor { export class AnalogSensor extends Sensor {
constructor() { constructor(port: number) {
super() super(port)
} }
_readPin6() { _readPin6() {
if (this.port < 0) return 0 if (!this.isActive()) return 0
return analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.InPin6 + 2 * this.port) return analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.InPin6 + 2 * this.port)
} }
} }
@ -216,32 +178,26 @@ namespace input.internal {
export class UartSensor extends Sensor { export class UartSensor extends Sensor {
protected mode: number protected mode: number // the mode user asked for
protected realmode: number protected realmode: number // the mode the hardware is in
constructor() { constructor(port: number) {
super() super(port)
this.mode = 0 this.mode = 0
this.realmode = -1 this.realmode = -1
} }
protected _portUpdated() { _activated() {
this.realmode = -1 this.realmode = 0
if (this.port >= 0) { // uartReset(this.port) // TODO is it ever needed?
if (this.isManual()) { this._setMode(this.mode)
uartReset(this.port)
} else {
this.realmode = 0
}
this._setMode(this.mode)
}
} }
protected _setMode(m: number) { protected _setMode(m: number) {
//control.dmesg(`_setMode p=${this.port} m: ${this.realmode} -> ${m}`) //control.dmesg(`_setMode p=${this.port} m: ${this.realmode} -> ${m}`)
let v = m | 0 let v = m | 0
this.mode = v this.mode = v
if (this.port < 0) return if (!this.isActive()) return
if (this.realmode != this.mode) { if (this.realmode != this.mode) {
this.realmode = v this.realmode = v
setUartMode(this.port, v) setUartMode(this.port, v)
@ -249,10 +205,12 @@ namespace input.internal {
} }
getBytes(): Buffer { getBytes(): Buffer {
return getUartBytes(this.port) return getUartBytes(this.isActive() ? this.port : -1)
} }
getNumber(fmt: NumberFormat, off: number) { getNumber(fmt: NumberFormat, off: number) {
if (!this.isActive())
return 0
return getUartNumber(fmt, off, this.port) return getUartNumber(fmt, off, this.port)
} }
} }

105
libs/core/ir.ts
View File

@ -40,29 +40,46 @@ namespace input {
} }
} }
export class IrSensor extends internal.UartSensor { let buttons: Button[]
private channel: IrRemoteChannel
private buttons: Button[];
constructor() { function create(ir: IrSensor) {
super() // it's created by referencing it
this.channel = IrRemoteChannel.Ch0 }
this.buttons = []
// otherwise button events won't work export function irButton(id: IrRemoteButton) {
this.mode = IrSensorMode.RemoteControl if (buttons == null) {
buttons = []
for (let i = 0; i < 5; ++i) { for (let i = 0; i < 5; ++i) {
this.buttons.push(new Button()) buttons.push(new Button())
} }
// make sure sensors are up
create(ir1)
create(ir2)
create(ir3)
create(ir4)
} }
button(id: IrRemoteButton) { let num = -1
let num = -1 while (id) {
while (id) { id >>= 1;
id >>= 1; num++;
num++; }
} num = Math.clamp(0, buttons.length - 1, num)
num = Math.clamp(0, this.buttons.length - 1, num) return buttons[num]
return this.buttons[num] }
//% fixedInstance
export class IrSensor extends internal.UartSensor {
private channel: IrRemoteChannel
constructor(port: number) {
super(port)
this.channel = IrRemoteChannel.Ch0
irButton(0) // make sure buttons array is initalized
// and set the mode, as otherwise button events won't work
this.mode = IrSensorMode.RemoteControl
} }
_query() { _query() {
@ -72,9 +89,9 @@ namespace input {
} }
_update(prev: number, curr: number) { _update(prev: number, curr: number) {
for (let i = 0; i < this.buttons.length; ++i) { for (let i = 0; i < buttons.length; ++i) {
let v = !!(curr & (1 << i)) let v = !!(curr & (1 << i))
this.buttons[i].update(v) buttons[i].update(v)
} }
} }
@ -92,16 +109,39 @@ namespace input {
this._setMode(m) this._setMode(m)
} }
getDistance() { /**
* Get the distance measured by the infrared sensor.
* @param ir the infrared sensor
*/
//% help=input/infrared/distance
//% block="%infrared|distance"
//% blockId=infraredGetDistance
//% parts="infrared"
//% blockNamespace=input
//% weight=65 blockGap=8
//% group="Infrared Sensor"
distance() {
this.setMode(IrSensorMode.Proximity) this.setMode(IrSensorMode.Proximity)
return this.getNumber(NumberFormat.UInt8LE, 0) return this.getNumber(NumberFormat.UInt8LE, 0)
} }
getRemoteCommand() { /**
* Get the remote commandreceived the infrared sensor.
* @param ir the infrared sensor
*/
//% help=input/infrared/remote-command
//% block="%infrared|remote command"
//% blockId=infraredGetRemoteCommand
//% parts="infrared"
//% blockNamespace=input
//% weight=65 blockGap=8
//% group="Infrared Sensor"
remoteCommand() {
this.setMode(IrSensorMode.RemoteControl) this.setMode(IrSensorMode.RemoteControl)
return this.getNumber(NumberFormat.UInt8LE, this.channel) return this.getNumber(NumberFormat.UInt8LE, this.channel)
} }
// TODO
getDirectionAndDistance() { getDirectionAndDistance() {
this.setMode(IrSensorMode.Seek) this.setMode(IrSensorMode.Seek)
return this.getNumber(NumberFormat.UInt16LE, this.channel * 2) return this.getNumber(NumberFormat.UInt16LE, this.channel * 2)
@ -109,35 +149,44 @@ namespace input {
} }
//% whenUsed //% whenUsed
export const ir: IrSensor = new IrSensor() export const ir1: IrSensor = new IrSensor(1)
//% whenUsed
export const ir2: IrSensor = new IrSensor(2)
//% whenUsed
export const ir3: IrSensor = new IrSensor(3)
//% whenUsed
export const ir4: IrSensor = new IrSensor(4)
/** /**
* Remote top-left button. * Remote top-left button.
*/ */
//% whenUsed block="remote top-left" weight=95 fixedInstance //% whenUsed block="remote top-left" weight=95 fixedInstance
export const remoteTopLeft = ir.button(IrRemoteButton.TopLeft) export const remoteTopLeft = irButton(IrRemoteButton.TopLeft)
/** /**
* Remote top-right button. * Remote top-right button.
*/ */
//% whenUsed block="remote top-right" weight=95 fixedInstance //% whenUsed block="remote top-right" weight=95 fixedInstance
export const remoteTopRight = ir.button(IrRemoteButton.TopRight) export const remoteTopRight = irButton(IrRemoteButton.TopRight)
/** /**
* Remote bottom-left button. * Remote bottom-left button.
*/ */
//% whenUsed block="remote bottom-left" weight=95 fixedInstance //% whenUsed block="remote bottom-left" weight=95 fixedInstance
export const remoteBottomLeft = ir.button(IrRemoteButton.BottomLeft) export const remoteBottomLeft = irButton(IrRemoteButton.BottomLeft)
/** /**
* Remote bottom-right button. * Remote bottom-right button.
*/ */
//% whenUsed block="remote bottom-right" weight=95 fixedInstance //% whenUsed block="remote bottom-right" weight=95 fixedInstance
export const remoteBottomRight = ir.button(IrRemoteButton.BottomRight) export const remoteBottomRight = irButton(IrRemoteButton.BottomRight)
/** /**
* Remote beacon (center) button. * Remote beacon (center) button.
*/ */
//% whenUsed block="remote center" weight=95 fixedInstance //% whenUsed block="remote center" weight=95 fixedInstance
export const remoteCenter = ir.button(IrRemoteButton.CenterBeacon) export const remoteCenter = irButton(IrRemoteButton.CenterBeacon)
} }

1
libs/core/ns.ts
View File

@ -1,4 +1,5 @@
//% color="#B4009E" weight=98 icon="\uf192" //% color="#B4009E" weight=98 icon="\uf192"
//% groups='["Touch Sensor", "Gyro Sensor", "Color Sensor", "Ultrasonic Sensor", "Infrared Sensor", "Remote", "Brick"]'
namespace input { namespace input {
} }

14
libs/core/output.ts
View File

@ -67,7 +67,7 @@ namespace output {
* @param ms the number of milliseconds to turn the motor on, eg: 500 * @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 * @param useBrake whether or not to use the brake, defaults to false
*/ */
//% blockId=output_turn block="turn motor %out| on for %ms|milliseconds" //% blockId=output_turn block="turn motor %out| on for %ms=timePicker|milliseconds"
//% weight=100 group="Motors" //% weight=100 group="Motors"
export function turn(out: Output, ms: number, useBrake = false) { export function turn(out: Output, ms: number, useBrake = false) {
// TODO: use current power / speed configuration // TODO: use current power / speed configuration
@ -87,14 +87,14 @@ namespace output {
* @param out the output connection that the motor is connected to * @param out the output connection that the motor is connected to
* @param on 1 to turn the motor on, 0 to turn it off * @param on 1 to turn the motor on, 0 to turn it off
*/ */
//% blockId=output_switch block="turn motor %out|%on" //% blockId=outputMotorPowerOnOff block="power motor %out|%on"
//% weight=90 group="Motors" //% weight=90 group="Motors"
//% on.fieldEditor="toggle" //% on.fieldEditor="toggleonoff"
export function switchMotor(out: Output, on: number, useBrake = false) { export function powerMotor(out: Output, on: boolean, useBrake = false) {
if (on == 0) { if (on) {
output.stop(out, useBrake);
} else {
output.start(out); output.start(out);
} else {
output.stop(out, useBrake);
} }
} }

6
libs/core/screen.ts
View File

@ -92,10 +92,10 @@ namespace screen {
* @param x the starting position's x coordinate, eg: 0 * @param x the starting position's x coordinate, eg: 0
* @param y the starting position's x coordinate, eg: 0 * @param y the starting position's x coordinate, eg: 0
*/ */
//% blockId=screen_drawText block="print %text| at x: %x| y: %y" //% blockId=screen_print block="print %text| at x: %x| y: %y"
//% weight=99 group="Screen" blockNamespace=output inlineInputMode="inline" //% weight=99 group="Brick" blockNamespace=output inlineInputMode="inline"
//% x.min=0 x.max=178 y.min=0 y.max=128 //% x.min=0 x.max=178 y.min=0 y.max=128
export function drawText(text: string, x: number, y: number, mode = Draw.Normal) { export function print(text: string, x: number, y: number, mode = Draw.Normal) {
x |= 0 x |= 0
y |= 0 y |= 0
if (!currFont) currFont = defaultFont() if (!currFont) currFont = defaultFont()

24
libs/core/test.ts
View File

@ -1,8 +1,8 @@
screen.clear() screen.clear()
screen.drawText("PXT!", 10, 30, Draw.Quad) screen.print("PXT!", 10, 30, Draw.Quad)
screen.drawRect(40, 40, 20, 10, Draw.Fill) screen.drawRect(40, 40, 20, 10, Draw.Fill)
output.setLights(LightsPattern.Orange) output.setStatusLight(LightsPattern.Orange)
screen.drawIcon(100, 50, screen.doubleIcon(screen.heart), Draw.Double | Draw.Transparent) screen.drawIcon(100, 50, screen.doubleIcon(screen.heart), Draw.Double | Draw.Transparent)
@ -12,37 +12,37 @@ input.buttonEnter.onEvent(ButtonEvent.Click, () => {
input.buttonLeft.onEvent(ButtonEvent.Click, () => { input.buttonLeft.onEvent(ButtonEvent.Click, () => {
screen.drawRect(10, 70, 20, 10, Draw.Fill) screen.drawRect(10, 70, 20, 10, Draw.Fill)
output.setLights(LightsPattern.Red) output.setStatusLight(LightsPattern.Red)
screen.setFont(screen.microbitFont()) screen.setFont(screen.microbitFont())
}) })
input.buttonRight.onEvent(ButtonEvent.Click, () => { input.buttonRight.onEvent(ButtonEvent.Click, () => {
screen.drawText("Right!", 10, 60) screen.print("Right!", 10, 60)
}) })
input.buttonDown.onEvent(ButtonEvent.Click, () => { input.buttonDown.onEvent(ButtonEvent.Click, () => {
screen.drawText("Down! ", 10, 60) screen.print("Down! ", 10, 60)
}) })
input.buttonUp.onEvent(ButtonEvent.Click, () => { input.buttonUp.onEvent(ButtonEvent.Click, () => {
screen.drawText("Up! ", 10, 60) screen.print("Up! ", 10, 60)
}) })
let num = 0 let num = 0
input.touchSensor.onEvent(ButtonEvent.Click, () => { input.touchSensor1.onEvent(ButtonEvent.Click, () => {
screen.drawText("Click! " + num, 10, 60) screen.print("Click! " + num, 10, 60)
num++ num++
}) })
input.remoteTopLeft.onEvent(ButtonEvent.Click, () => { input.remoteTopLeft.onEvent(ButtonEvent.Click, () => {
screen.drawText("TOPLEFT " + num, 10, 60) screen.print("TOPLEFT " + num, 10, 60)
num++ num++
}) })
input.remoteTopRight.onEvent(ButtonEvent.Down, () => { input.remoteTopRight.onEvent(ButtonEvent.Down, () => {
screen.drawText("TOPRIGH " + num, 10, 60) screen.print("TOPRIGH " + num, 10, 60)
num++ num++
}) })
@ -54,7 +54,7 @@ loops.forever(() => {
/* /*
loops.forever(() => { loops.forever(() => {
let v = input.color.getColor() let v = input.color.getColor()
screen.drawText(10, 60, v + " ") screen.print(10, 60, v + " ")
loops.pause(200) loops.pause(200)
}) })
*/ */

66
libs/core/touch.ts
View File

@ -1,12 +1,26 @@
// keep TouchSensorEvent in sync with ButtonEvent
/**
* Touch sensor interactions
*/
const enum TouchSensorEvent {
//% block="touched"
Touched = 4,
//% block="bumped"
Bumped = 1,
//% block="released"
Released = 3,
}
namespace input { namespace input {
//% fixedInstances //% fixedInstances
export class TouchSensor extends internal.AnalogSensor { export class TouchSensor extends internal.AnalogSensor {
button: Button; private button: Button;
constructor() { constructor(port: number) {
super() super(port)
this.button = new Button() this.button = new Button();
} }
_query() { _query() {
@ -20,11 +34,45 @@ namespace input {
_deviceType() { _deviceType() {
return DAL.DEVICE_TYPE_TOUCH return DAL.DEVICE_TYPE_TOUCH
} }
/**
* Check if touch sensor is touched.
* @param sensor the port to query the request
*/
//% help=input/touch/is-touched
//% block="%sensor|is touched"
//% blockId=touchIsTouched
//% parts="touch"
//% blockNamespace=input
//% weight=81 blockGap=8
//% group="Touch Sensor"
isTouched() {
return this.button.isPressed();
}
/**
* Do something when a touch sensor is touched...
* @param sensor the touch sensor that needs to be clicked or used
* @param event the kind of button gesture that needs to be detected
* @param body code to run when the event is raised
*/
//% help=input/touch/on-event
//% blockId=touchEvent block="on %sensor|%event"
//% parts="touch"
//% blockNamespace=input
//% weight=99 blockGap=8
//% group="Touch Sensor"
onEvent(ev: TouchSensorEvent, body: () => void) {
this.button.onEvent(<ButtonEvent><number>ev, body)
}
} }
//% whenUsed //% whenUsed block="touch sensor 1" weight=95 fixedInstance
export const touchSensorImpl: TouchSensor = new TouchSensor() export const touchSensor1: TouchSensor = new TouchSensor(1)
//% whenUsed block="touch sensor 2" weight=95 fixedInstance
//% whenUsed block="touch sensor" weight=95 fixedInstance export const touchSensor2: TouchSensor = new TouchSensor(2)
export const touchSensor: Button = touchSensorImpl.button //% whenUsed block="touch sensor 3" weight=95 fixedInstance
export const touchSensor3: TouchSensor = new TouchSensor(3)
//% whenUsed block="touch sensor 4" weight=95 fixedInstance
export const touchSensor4: TouchSensor = new TouchSensor(4)
} }

32
libs/core/ultrasonic.ts
View File

@ -1,22 +1,42 @@
namespace input { namespace input {
//% fixedInstances
export class UltraSonicSensor extends internal.UartSensor { export class UltraSonicSensor extends internal.UartSensor {
constructor() { constructor(port: number) {
super() super(port)
} }
_deviceType() { _deviceType() {
return DAL.DEVICE_TYPE_ULTRASONIC return DAL.DEVICE_TYPE_ULTRASONIC
} }
/** Get distance in mm */ /**
getDistance() { * Gets the distance from the sonar in millimeters
* @param sensor the ultrasonic sensor port
*/
//% help=input/ultrasonic/distance
//% block="%sensor|distance"
//% blockId=sonarGetDistance
//% parts="ultrasonic"
//% blockNamespace=input
//% weight=65 blockGap=8
//% group="Ultrasonic Sensor"
distance() {
// it supposedly also has an inch mode, but we stick to mm // it supposedly also has an inch mode, but we stick to mm
this._setMode(0) this._setMode(0)
return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff
} }
} }
//% whenUsed //% fixedInstance whenUsed block="ultrasonic sensor 4"
export const ultrasonic: UltraSonicSensor = new UltraSonicSensor() export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
//% fixedInstance whenUsed block="ultrasonic sensor 1"
export const ultrasonic1: UltraSonicSensor = new UltraSonicSensor(1)
//% fixedInstance whenUsed block="ultrasonic sensor 2"
export const ultrasonic2: UltraSonicSensor = new UltraSonicSensor(2)
//% fixedInstance whenUsed block="ultrasonic sensor 3"
export const ultrasonic3: UltraSonicSensor = new UltraSonicSensor(3)
} }

2
libs/ev3/ns.ts
View File

@ -4,7 +4,7 @@ namespace input {
} }
//% color="#8AC044" weight=90 icon="\uf185" //% color="#8AC044" weight=90 icon="\uf185"
//% groups='["Lights", "Screen", "Motors"]' //% groups='["Motors", "Brick"]'
namespace output { namespace output {
} }