diff --git a/libs/core/_locales/core-jsdoc-strings.json b/libs/core/_locales/core-jsdoc-strings.json index 1182a9f9..1da6db92 100644 --- a/libs/core/_locales/core-jsdoc-strings.json +++ b/libs/core/_locales/core-jsdoc-strings.json @@ -68,10 +68,11 @@ "sensors.ColorSensor.reflectedLight": "Get current reflected light value from the color sensor.", "sensors.GyroSensor.angle": "Get the current angle from the gyroscope.", "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope.", - "sensors.InfraredSensor.onObjectNear": "Registers code to run when an object is getting near.", - "sensors.InfraredSensor.onObjectNear|param|handler": "the code to run when detected", + "sensors.InfraredSensor.on": "Registers code to run when an object is getting near.", + "sensors.InfraredSensor.on|param|handler": "the code to run when detected", "sensors.InfraredSensor.proximity": "Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)", "sensors.InfraredSensor.remoteCommand": "Get the remote commandreceived the infrared sensor.", + "sensors.InfraredSensor.wait": "Waits for the event to occur", "sensors.RemoteInfraredBeaconButton.isPressed": "Check if a remote button is currently pressed or not.", "sensors.RemoteInfraredBeaconButton.onEvent": "Do something when a button or sensor is clicked, up or down", "sensors.RemoteInfraredBeaconButton.onEvent|param|body": "code to run when the event is raised", @@ -80,8 +81,9 @@ "sensors.TouchSensor.onEvent": "Do something when a touch sensor is touched...", "sensors.TouchSensor.onEvent|param|body": "code to run when the event is raised", "sensors.UltraSonicSensor.distance": "Gets the distance from the sonar in millimeters", - "sensors.UltraSonicSensor.onObjectNear": "Registers code to run when the given color is close", - "sensors.UltraSonicSensor.onObjectNear|param|handler": "the code to run when detected", + "sensors.UltraSonicSensor.on": "Registers code to run when the given color is close", + "sensors.UltraSonicSensor.on|param|handler": "the code to run when detected", + "sensors.UltraSonicSensor.wait": "Waits for the event to occur", "sensors.remoteButtonBottomLeft": "Remote bottom-left button.", "sensors.remoteButtonBottomRight": "Remote bottom-right button.", "sensors.remoteButtonCenter": "Remote beacon (center) button.", diff --git a/libs/core/_locales/core-strings.json b/libs/core/_locales/core-strings.json index 1a61d9b9..a92fb75d 100644 --- a/libs/core/_locales/core-strings.json +++ b/libs/core/_locales/core-strings.json @@ -10,6 +10,8 @@ "ColorSensorColor.Red|block": "red", "ColorSensorColor.White|block": "white", "ColorSensorColor.Yellow|block": "yellow", + "InfraredSensorEvent.ObjectDetected|block": "object detected", + "InfraredSensorEvent.ObjectNear|block": "object near", "LightsPattern.GreenFlash|block": "Flashing Green", "LightsPattern.GreenPulse|block": "Pulsing Green", "LightsPattern.Green|block": "Green", @@ -25,11 +27,11 @@ "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", + "UltrasonicSensorEvent.ObjectDetected|block": "object detected", + "UltrasonicSensorEvent.ObjectNear|block": "object near", "brick.Button.isPressed|block": "%button|is pressed", "brick.Button.onEvent|block": "on %button|%event", "brick.Button.wasPressed|block": "%button|was pressed", @@ -71,16 +73,18 @@ "sensors.ColorSensor.reflectedLight|block": "%color| reflected light", "sensors.GyroSensor.angle|block": "%sensor|angle", "sensors.GyroSensor.rate|block": "%sensor|rotation rate", - "sensors.InfraredSensor.onObjectNear|block": "on %sensor|object near", + "sensors.InfraredSensor.on|block": "on %sensor|%event", "sensors.InfraredSensor.proximity|block": "%infrared|proximity", "sensors.InfraredSensor.remoteCommand|block": "%infrared|remote command", + "sensors.InfraredSensor.wait|block": "wait %sensor|for %event", "sensors.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed", "sensors.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event", "sensors.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed", "sensors.TouchSensor.isTouched|block": "%sensor|is touched", "sensors.TouchSensor.onEvent|block": "on %sensor|%event", "sensors.UltraSonicSensor.distance|block": "%sensor|distance", - "sensors.UltraSonicSensor.onObjectNear|block": "on %sensor|object near", + "sensors.UltraSonicSensor.on|block": "on %sensor|%event", + "sensors.UltraSonicSensor.wait|block": "wait %sensor|for %event", "sensors.color1|block": "color sensor 1", "sensors.color2|block": "color sensor 2", "sensors.color3|block": "color sensor 3", diff --git a/libs/core/ir.ts b/libs/core/ir.ts index d952a9f1..35406f79 100644 --- a/libs/core/ir.ts +++ b/libs/core/ir.ts @@ -21,6 +21,13 @@ const enum IrRemoteButton { BottomRight = 0x10, } +const enum InfraredSensorEvent { + //% block="object near" + ObjectNear = 1, + //% block="object detected" + ObjectDetected = 2 +} + namespace sensors { function mapButton(v: number) { switch (v) { @@ -148,8 +155,8 @@ namespace sensors { 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 + return d < this.proximityThreshold ? UltrasonicSensorEvent.ObjectNear + : d > this.proximityThreshold + 5 ? UltrasonicSensorEvent.ObjectDetected : 0; } return 0 @@ -185,21 +192,31 @@ namespace sensors { * Registers code to run when an object is getting near. * @param handler the code to run when detected */ - //% help=input/infrared/on-object-near - //% block="on %sensor|object near" - //% blockId=infraredOnObjectNear + //% help=input/infrared/on + //% block="on %sensor|%event" + //% blockId=infraredOn //% parts="infraredsensor" //% blockNamespace=sensors //% weight=100 blockGap=8 //% group="Infrared Sensor" - onObjectNear(handler: () => void) { - control.onEvent(this._id, PromixityEvent.ObjectNear, handler); - if (this.proximity() == PromixityEvent.ObjectNear) + on(event: InfraredSensorEvent, handler: () => void) { + control.onEvent(this._id, InfraredSensorEvent.ObjectNear, handler); + if ( this.proximity() == InfraredSensorEvent.ObjectNear) control.runInBackground(handler); } - setObjectNearThreshold(distance: number) { - this.proximityThreshold = Math.max(1, Math.min(95, distance)); + /** + * Waits for the event to occur + */ + //% help=input/ultrasonic/wait + //% block="wait %sensor|for %event" + //% blockId=ultrasonicWait + //% parts="infraredsensor" + //% blockNamespace=sensors + //% weight=99 blockGap=8 + //% group="Ultrasonic Sensor" + wait(event: InfraredSensorEvent) { + // TODO } /** diff --git a/libs/core/ultrasonic.ts b/libs/core/ultrasonic.ts index 559d4c1e..fe32a12f 100644 --- a/libs/core/ultrasonic.ts +++ b/libs/core/ultrasonic.ts @@ -1,4 +1,4 @@ -const enum PromixityEvent { +const enum UltrasonicSensorEvent { //% block="object near" ObjectNear = 1, //% block="object detected" @@ -10,10 +10,12 @@ namespace sensors { //% fixedInstances export class UltraSonicSensor extends internal.UartSensor { private promixityThreshold: number; + private movementThreshold: number; constructor(port: number) { super(port) this.promixityThreshold = 10; + this.movementThreshold = 1; } _deviceType() { @@ -21,36 +23,49 @@ namespace sensors { } _query(): number { - const d = this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff; - return d < this.promixityThreshold ? PromixityEvent.ObjectNear - : d > this.promixityThreshold + 5 ? PromixityEvent.ObjectDetected - : 0; + return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff; } _update(prev: number, curr: number) { - if (curr) - control.raiseEvent(this._id, curr); + // is there an object near? + if (prev >= this.promixityThreshold && curr < this.promixityThreshold) + control.raiseEvent(this._id, UltrasonicSensorEvent.ObjectNear); // TODO proper HI-LO sensor + + // did something change? + if (Math.abs(prev - curr) > this.movementThreshold) + control.raiseEvent(this._id, UltrasonicSensorEvent.ObjectDetected); // TODO debouncing } /** * Registers code to run when the given color is close * @param handler the code to run when detected */ - //% help=input/ultrasonic/on-object-near - //% block="on %sensor|object near" - //% blockId=ultrasonicOnObjectClose + //% help=input/ultrasonic/on + //% block="on %sensor|%event" + //% blockId=ultrasonicOn //% parts="infraredsensor" //% blockNamespace=sensors //% weight=100 blockGap=8 //% group="Ultrasonic Sensor" - onObjectNear(handler: () => void) { - control.onEvent(this._id, PromixityEvent.ObjectNear, handler); - if (this.distance() == PromixityEvent.ObjectNear) + on(event: UltrasonicSensorEvent, handler: () => void) { + control.onEvent(this._id, event, handler); + if (event == UltrasonicSensorEvent.ObjectNear + && this.distance() < this.promixityThreshold) control.runInBackground(handler); } - setObjectNearThreshold(distance: number) { - this.promixityThreshold = Math.max(1, Math.min(250, distance)); + /** + * Waits for the event to occur + */ + //% help=input/ultrasonic/wait + //% block="wait %sensor|for %event" + //% blockId=ultrasonicWait + //% parts="infraredsensor" + //% blockNamespace=sensors + //% weight=99 blockGap=8 + //% group="Ultrasonic Sensor" + wait(event: UltrasonicSensorEvent) { + // TODO } /** @@ -65,7 +80,7 @@ namespace sensors { //% 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 cm this._setMode(0) return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff; }