c_meyer/pxt-ev3
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #65 from Microsoft/ultrasonicsensor

Browse Source 
Ultrasonic/IR sensor refactoring work
This commit is contained in:
Peli de Halleux 2017-11-30 10:14:30 -08:00 committed by GitHub
commit 73b5e7dc3f
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
28 changed files with 186 additions and 111 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libs/color-sensor/_locales/color-sensor-strings.json
View File

@ -17,10 +17,10 @@
"sensors.ColorSensor.light|block": "`icons.colorSensor` %color|%mode",
"sensors.ColorSensor.onColorDetected|block": "on `icons.colorSensor` %sensor|detected color %color",
"sensors.ColorSensor.onLightChanged|block": "on `icons.colorSensor` %sensor|%mode|%condition",
"sensors.colorSensor1|block": "1",
"sensors.colorSensor2|block": "2",
"sensors.colorSensor3|block": "3",
"sensors.colorSensor4|block": "4",
"sensors.color1|block": "1",
"sensors.color2|block": "2",
"sensors.color3|block": "3",
"sensors.color4|block": "4",
"sensors|block": "sensors",
"{id:category}Sensors": "Sensors",
"{id:group}Color Sensor": "Color Sensor"

8
libs/color-sensor/color.ts
View File

@ -172,14 +172,14 @@ namespace sensors {
}
//% whenUsed block="1" weight=95 fixedInstance
export const colorSensor1: ColorSensor = new ColorSensor(1)
export const color1: ColorSensor = new ColorSensor(1)
//% whenUsed block="3" weight=90 fixedInstance
export const colorSensor3: ColorSensor = new ColorSensor(3)
export const color3: ColorSensor = new ColorSensor(3)
//% whenUsed block="2" weight=90 fixedInstance
export const colorSensor2: ColorSensor = new ColorSensor(2)
export const color2: ColorSensor = new ColorSensor(2)
//% whenUsed block="4" weight=90 fixedInstance
export const colorSensor4: ColorSensor = new ColorSensor(4)
export const color4: ColorSensor = new ColorSensor(4)
}

8
libs/color-sensor/docs/reference/sensors/color-sensor.md
View File

@ -1,11 +1,11 @@
# Color Sensor
```cards
sensors.colorSensor1.onColorDetected(ColorSensorColor.Blue, function () {
sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {
})
sensors.colorSensor1.color();
sensors.colorSensor1.ambientLight();
sensors.colorSensor1.reflectedLight();
sensors.color1.color();
sensors.color1.ambientLight();
sensors.color1.reflectedLight();
```
## See Also

2
libs/color-sensor/docs/reference/sensors/color-sensor/ambient-light.md
View File

@ -2,7 +2,7 @@
```blocks
loops.forever(function () {
if (sensors.colorSensor1.ambientLight() > 20) {
if (sensors.color1.ambientLight() > 20) {
brick.setStatusLight(LightsPattern.Green)
} else {
brick.setStatusLight(LightsPattern.Orange)

2
libs/color-sensor/docs/reference/sensors/color-sensor/color.md
View File

@ -2,7 +2,7 @@
```blocks
loops.forever(function () {
if (sensors.colorSensor1.color() == ColorSensorColor.Green) {
if (sensors.color1.color() == ColorSensorColor.Green) {
brick.setStatusLight(LightsPattern.Green)
} else {
brick.setStatusLight(LightsPattern.Orange)

4
libs/color-sensor/docs/reference/sensors/color-sensor/on-color-detected.md
View File

@ -1,7 +1,7 @@
# On Color Detected
```sig
sensors.colorSensor1.onColorDetected(ColorSensorColor.Blue, function () { })
sensors.color1.onColorDetected(ColorSensorColor.Blue, function () { })
```
# Parameters
@ -10,7 +10,7 @@ sensors.colorSensor1.onColorDetected(ColorSensorColor.Blue, function () { })
```blocks
sensors.colorSensor1.onColorDetected(ColorSensorColor.Blue, function () {
sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {
brick.showImage(images.expressionsSick)
})
```

2
libs/color-sensor/docs/reference/sensors/color-sensor/reflected-light.md
View File

@ -2,7 +2,7 @@
```blocks
loops.forever(function () {
if (sensors.colorSensor1.reflectedLight() > 20) {
if (sensors.color1.reflectedLight() > 20) {
brick.setStatusLight(LightsPattern.Green)
} else {
brick.setStatusLight(LightsPattern.Orange)

20
libs/core/_locales/core-jsdoc-strings.json
View File

@ -18,6 +18,8 @@
"brick.Button.isPressed": "Check if button is currently pressed or not.",
"brick.Button.onEvent": "Do something when a button or sensor is clicked, up or down.",
"brick.Button.onEvent|param|body": "code to run when the event is raised",
"brick.Button.waitUntil": "Waits until the event is raised",
"brick.Button.waitUntil|param|ev": "the event to wait for",
"brick.Button.wasPressed": "See if the button was pressed again since the last time you checked.",
"brick._imagePicker": "An image",
"brick._imagePicker|param|image": "the image",
@ -70,24 +72,6 @@
"screen.unpackPNG": "Decompresses a 1-bit gray scale PNG image to image format.",
"sensors.GyroSensor.angle": "Get the current angle from the gyroscope.",
"sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
"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",
"sensors.RemoteInfraredBeaconButton.wasPressed": "See if the remote button was pressed again since the last time you checked.",
"sensors.UltraSonicSensor.distance": "Gets the distance from the sonar in millimeters",
"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.",
"sensors.remoteButtonTopLeft": "Remote top-left button.",
"sensors.remoteButtonTopRight": "Remote top-right button.",
"serial": "Reading and writing data over a serial connection.",
"serial.writeDmesg": "Send DMESG debug buffer over serial."
}

34
libs/core/_locales/core-strings.json
View File

@ -2,8 +2,6 @@
"ButtonEvent.Click|block": "click",
"ButtonEvent.Down|block": "down",
"ButtonEvent.Up|block": "up",
"InfraredSensorEvent.ObjectDetected|block": "object detected",
"InfraredSensorEvent.ObjectNear|block": "object near",
"LightsPattern.GreenFlash|block": "Flashing Green",
"LightsPattern.GreenPulse|block": "Pulsing Green",
"LightsPattern.Green|block": "Green",
@ -19,10 +17,9 @@
"Output.B|block": "B",
"Output.C|block": "C",
"Output.D|block": "D",
"UltrasonicSensorEvent.ObjectDetected|block": "object detected",
"UltrasonicSensorEvent.ObjectNear|block": "object near",
"brick.Button.isPressed|block": "`icons.brickButtons` %button|is pressed",
"brick.Button.onEvent|block": "on `icons.brickButtons` %button|%event",
"brick.Button.waitUntil|block": "wait until `icons.brickButtons` %button|%event",
"brick.Button.wasPressed|block": "`icons.brickButtons` %button|was pressed",
"brick._imagePicker|block": "%image",
"brick.buttonDown|block": "down",
@ -60,34 +57,10 @@
"screen|block": "screen",
"sensors.GyroSensor.angle|block": "`icons.gyroSensor` %sensor|angle",
"sensors.GyroSensor.rate|block": "`icons.gyroSensor` %sensor|rotation rate",
"sensors.InfraredSensor.on|block": "on `icons.infraredSensor` %sensor|%event",
"sensors.InfraredSensor.proximity|block": "`icons.infraredSensor` %infrared|proximity",
"sensors.InfraredSensor.remoteCommand|block": "`icons.infraredSensor` %infrared|remote command",
"sensors.InfraredSensor.wait|block": "wait `icons.infraredSensor` %sensor|for %event",
"sensors.RemoteInfraredBeaconButton.isPressed|block": "`icons.infraredSensor` %button|is pressed",
"sensors.RemoteInfraredBeaconButton.onEvent|block": "on `icons.infraredSensor` %button|%event",
"sensors.RemoteInfraredBeaconButton.wasPressed|block": "`icons.infraredSensor` %button|was pressed",
"sensors.UltraSonicSensor.distance|block": "`icons.ultrasonicSensor` %sensor|distance",
"sensors.UltraSonicSensor.on|block": "on `icons.ultrasonicSensor` %sensor|%event",
"sensors.UltraSonicSensor.wait|block": "wait `icons.ultrasonicSensor` %sensor|for %event",
"sensors.gyro1|block": "1",
"sensors.gyro2|block": "2",
"sensors.gyro3|block": "3",
"sensors.gyro4|block": "4",
"sensors.infraredSensor1|block": "1",
"sensors.infraredSensor2|block": "2",
"sensors.infraredSensor3|block": "3",
"sensors.infraredSensor4|block": "4",
"sensors.remoteButtonBottomLeft|block": "bottom-left",
"sensors.remoteButtonBottomRight|block": "bottom-right",
"sensors.remoteButtonCenter|block": "center",
"sensors.remoteButtonTopLeft|block": "top-left",
"sensors.remoteButtonTopRight|block": "top-right",
"sensors.ultrasonic1|block": "1",
"sensors.ultrasonic2|block": "2",
"sensors.ultrasonic3|block": "3",
"sensors.ultrasonic4|block": "4",
"sensors|block": "sensors",
"serial|block": "serial",
"{id:category}Brick": "Brick",
"{id:category}Control": "Control",
@ -101,10 +74,7 @@
"{id:category}Serial": "Serial",
"{id:group}Buttons": "Buttons",
"{id:group}Gyro Sensor": "Gyro Sensor",
"{id:group}Infrared Sensor": "Infrared Sensor",
"{id:group}Light": "Light",
"{id:group}Motors": "Motors",
"{id:group}Remote Infrared Beacon": "Remote Infrared Beacon",
"{id:group}Screen": "Screen",
"{id:group}Ultrasonic Sensor": "Ultrasonic Sensor"
"{id:group}Screen": "Screen"
}

14
libs/core/buttons.ts
View File

@ -127,6 +127,20 @@ namespace brick {
onEvent(ev: ButtonEvent, body: () => void) {
control.onEvent(this._id, ev, body)
}
/**
* Waits until the event is raised
* @param ev the event to wait for
*/
//% help=input/button/wait-until
//% blockId=buttonWaitUntil block="wait until `icons.brickButtons` %button|%event"
//% parts="brick"
//% blockNamespace=brick
//% weight=98 blockGap=8
//% group="Buttons"
waitUntil(ev: ButtonEvent) {
control.waitForEvent(this._id, ev);
}
}
}

2
libs/core/pxt.json
View File

@ -18,9 +18,7 @@
"output.ts",
"core.ts",
"input.ts",
"ir.ts",
"gyro.ts",
"ultrasonic.ts",
"shims.d.ts",
"enums.d.ts",
"dal.d.ts",

4
libs/ev3/pxt.json
View File

@ -10,7 +10,9 @@
"core": "file:../core",
"music": "file:../music",
"color-sensor": "file:../color-sensor",
"touch-sensor": "file:../touch-sensor"
"touch-sensor": "file:../touch-sensor",
"ultrasonic-sensor": "file:../ultrasonic-sensor",
"infrared-sensor": "file:../infrared-sensor"
},
"public": true
}

3
libs/infrared-sensor/README.md Normal file
View File

@ -0,0 +1,3 @@
# Infrared sensor
The library to interact with the Infrared Sensor.

16
libs/infrared-sensor/_locales/infrared-sensor-jsdoc-strings.json Normal file
View File

@ -0,0 +1,16 @@
{
"sensors.InfraredSensor.onEvent": "Registers code to run when an object is getting near.",
"sensors.InfraredSensor.onEvent|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.waitUntil": "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",
"sensors.RemoteInfraredBeaconButton.wasPressed": "See if the remote button was pressed again since the last time you checked.",
"sensors.remoteButtonBottomLeft": "Remote bottom-left button.",
"sensors.remoteButtonBottomRight": "Remote bottom-right button.",
"sensors.remoteButtonCenter": "Remote beacon (center) button.",
"sensors.remoteButtonTopLeft": "Remote top-left button.",
"sensors.remoteButtonTopRight": "Remote top-right button."
}

24
libs/infrared-sensor/_locales/infrared-sensor-strings.json Normal file
View File

@ -0,0 +1,24 @@
{
"InfraredSensorEvent.ObjectDetected|block": "object detected",
"InfraredSensorEvent.ObjectNear|block": "object near",
"sensors.InfraredSensor.onEvent|block": "on `icons.infraredSensor` %sensor|%event",
"sensors.InfraredSensor.proximity|block": "`icons.infraredSensor` %infrared|proximity",
"sensors.InfraredSensor.remoteCommand|block": "`icons.infraredSensor` %infrared|remote command",
"sensors.InfraredSensor.waitUntil|block": "wait until `icons.infraredSensor` %sensor| %event",
"sensors.RemoteInfraredBeaconButton.isPressed|block": "`icons.infraredSensor` %button|is pressed",
"sensors.RemoteInfraredBeaconButton.onEvent|block": "on `icons.infraredSensor` %button|%event",
"sensors.RemoteInfraredBeaconButton.wasPressed|block": "`icons.infraredSensor` %button|was pressed",
"sensors.infraredSensor1|block": "1",
"sensors.infraredSensor2|block": "2",
"sensors.infraredSensor3|block": "3",
"sensors.infraredSensor4|block": "4",
"sensors.remoteButtonBottomLeft|block": "bottom-left",
"sensors.remoteButtonBottomRight|block": "bottom-right",
"sensors.remoteButtonCenter|block": "center",
"sensors.remoteButtonTopLeft|block": "top-left",
"sensors.remoteButtonTopRight|block": "top-right",
"sensors|block": "sensors",
"{id:category}Sensors": "Sensors",
"{id:group}Infrared Sensor": "Infrared Sensor",
"{id:group}Remote Infrared Beacon": "Remote Infrared Beacon"
}

38
libs/core/ir.ts → libs/infrared-sensor/ir.ts
View File

@ -134,16 +134,16 @@ namespace sensors {
this.button.onEvent(ev, body);
}
}
//% fixedInstances
export class InfraredSensor extends internal.UartSensor {
private channel: IrRemoteChannel;
private proximityThreshold: number;
private proximityThreshold: sensors.internal.ThresholdDetector;
constructor(port: number) {
super(port)
this.channel = IrRemoteChannel.Ch0
this.proximityThreshold = 10;
this.proximityThreshold = new sensors.internal.ThresholdDetector(this._id, 0, 100, 10, 90);
irButton(0) // make sure buttons array is initalized
// and set the mode, as otherwise button events won't work
@ -154,10 +154,7 @@ namespace sensors {
if (this.mode == IrSensorMode.RemoteControl)
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 ? UltrasonicSensorEvent.ObjectNear
: d > this.proximityThreshold + 5 ? UltrasonicSensorEvent.ObjectDetected
: 0;
return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
}
return 0
}
@ -168,9 +165,8 @@ namespace sensors {
let v = !!(curr & (1 << i))
buttons[i]._update(v)
}
} else {
if (curr)
control.raiseEvent(this._id, curr);
} else if (this.mode == IrSensorMode.Proximity) {
this.proximityThreshold.setLevel(curr);
}
}
@ -181,7 +177,7 @@ namespace sensors {
setRemoteChannel(c: IrRemoteChannel) {
c = Math.clamp(0, 3, c | 0)
this.channel = c
this._setMode(IrSensorMode.RemoteControl)
this.setMode(IrSensorMode.RemoteControl)
}
setMode(m: IrSensorMode) {
@ -199,26 +195,24 @@ namespace sensors {
//% blockNamespace=sensors
//% weight=100 blockGap=8
//% group="Infrared Sensor"
on(event: InfraredSensorEvent, handler: () => void) {
control.onEvent(this._id, InfraredSensorEvent.ObjectNear, handler);
if ( this.proximity() == InfraredSensorEvent.ObjectNear)
control.runInBackground(handler);
onEvent(event: InfraredSensorEvent, handler: () => void) {
control.onEvent(this._id, event, handler);
}
/**
* Waits for the event to occur
*/
//% help=input/ultrasonic/wait
//% block="wait `icons.infraredSensor` %sensor|for %event"
//% block="wait until `icons.infraredSensor` %sensor| %event"
//% blockId=infraredwait
//% parts="infraredsensor"
//% blockNamespace=sensors
//% weight=99 blockGap=8
//% group="Infrared Sensor"
wait(event: InfraredSensorEvent) {
// TODO
waitUntil(event: InfraredSensorEvent) {
control.waitForEvent(this._id, event);
}
/**
* Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)
* @param ir the infrared sensor
@ -230,7 +224,7 @@ namespace sensors {
//% blockNamespace=sensors
//% weight=65 blockGap=8
//% group="Infrared Sensor"
proximity() {
proximity(): number {
this._setMode(IrSensorMode.Proximity)
return this.getNumber(NumberFormat.UInt8LE, 0)
}
@ -246,7 +240,7 @@ namespace sensors {
//% blockNamespace=sensors
//% weight=65 blockGap=8
//% group="Infrared Sensor"
remoteCommand() {
remoteCommand(): number {
this._setMode(IrSensorMode.RemoteControl)
return this.getNumber(NumberFormat.UInt8LE, this.channel)
}
@ -276,7 +270,7 @@ namespace sensors {
*/
//% whenUsed block="center" weight=95 fixedInstance
export const remoteButtonCenter = irButton(IrRemoteButton.CenterBeacon)
/**
* Remote top-left button.
*/

15
libs/infrared-sensor/pxt.json Normal file
View File

@ -0,0 +1,15 @@
{
"name": "infrared-sensor",
"description": "Infrared Sensor support",
"files": [
"README.md",
"ir.ts"
],
"testFiles": [
"test.ts"
],
"public": true,
"dependencies": {
"core": "file:../core"
}
}

0
libs/infrared-sensor/test.ts Normal file
View File

1
libs/touch-sensor/_locales/touch-sensor-jsdoc-strings.json
View File

@ -3,5 +3,6 @@
"sensors.TouchSensor.isPressed": "Check if touch sensor is touched.",
"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.TouchSensor.waitUntil": "Wait until the touch sensor is touched",
"sensors.TouchSensor.wasPressed": "Check if touch sensor is touched since it was last checked."
}

1
libs/touch-sensor/_locales/touch-sensor-strings.json
View File

@ -4,6 +4,7 @@
"TouchSensorEvent.Released|block": "released",
"sensors.TouchSensor.isPressed|block": "`icons.touchSensor` %sensor|is pressed",
"sensors.TouchSensor.onEvent|block": "on `icons.touchSensor` %sensor|%event",
"sensors.TouchSensor.waitUntil|block": "wait until `icons.touchSensor` %sensor|%event",
"sensors.TouchSensor.wasPressed|block": "`icons.touchSensor` %sensor|was pressed",
"sensors.touchSensor1|block": "1",
"sensors.touchSensor2|block": "2",

15
libs/touch-sensor/touch.ts
View File

@ -51,6 +51,21 @@ namespace sensors {
this.button.onEvent(<ButtonEvent><number>ev, body)
}
/**
* Wait until the 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
*/
//% help=input/touch-sensor/wait-until
//% blockId=touchWaitUntil block="wait until `icons.touchSensor` %sensor|%event"
//% parts="touch"
//% blockNamespace=sensors
//% weight=98 blockGap=8
//% group="Touch Sensor"
waitUntil(ev: TouchSensorEvent) {
this.button.waitUntil(<ButtonEvent><number>ev);
}
/**
* Check if touch sensor is touched.
* @param sensor the port to query the request

3
libs/ultrasonic-sensor/README.md Normal file
View File

@ -0,0 +1,3 @@
# Ultrasonic sensor
The library to interact with the Ultrasonic Sensor.

6
libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json Normal file
View File

@ -0,0 +1,6 @@
{
"sensors.UltraSonicSensor.distance": "Gets the distance from the sonar in centimeters",
"sensors.UltraSonicSensor.onEvent": "Registers code to run when the given color is close",
"sensors.UltraSonicSensor.onEvent|param|handler": "the code to run when detected",
"sensors.UltraSonicSensor.waitUntil": "Waits for the event to occur"
}

14
libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json Normal file
View File

@ -0,0 +1,14 @@
{
"UltrasonicSensorEvent.ObjectDetected|block": "object detected",
"UltrasonicSensorEvent.ObjectFar|block": "object far",
"UltrasonicSensorEvent.ObjectNear|block": "object near",
"sensors.UltraSonicSensor.distance|block": "`icons.ultrasonicSensor` %sensor|distance",
"sensors.UltraSonicSensor.onEvent|block": "on `icons.ultrasonicSensor` %sensor|%event",
"sensors.UltraSonicSensor.waitUntil|block": "wait until `icons.ultrasonicSensor` %sensor| %event",
"sensors.ultrasonic1|block": "1",
"sensors.ultrasonic2|block": "2",
"sensors.ultrasonic3|block": "3",
"sensors.ultrasonic4|block": "4",
"{id:category}Sensors": "Sensors",
"{id:group}Ultrasonic Sensor": "Ultrasonic Sensor"
}

15
libs/ultrasonic-sensor/pxt.json Normal file
View File

@ -0,0 +1,15 @@
{
"name": "ultrasonic-sensor",
"description": "Ultrasonic Sensor support",
"files": [
"README.md",
"ultrasonic.ts"
],
"testFiles": [
"test.ts"
],
"public": true,
"dependencies": {
"core": "file:../core"
}
}

0
libs/ultrasonic-sensor/test.ts Normal file
View File

36
libs/core/ultrasonic.ts → libs/ultrasonic-sensor/ultrasonic.ts
View File

@ -1,20 +1,22 @@
const enum UltrasonicSensorEvent {
//% block="object near"
ObjectNear = 1,
enum UltrasonicSensorEvent {
//% block="object detected"
ObjectDetected = 2
ObjectDetected = 10,
//% block="object near"
ObjectNear = sensors.internal.ThresholdState.Low,
//% block="object far"
ObjectFar = sensors.internal.ThresholdState.High
}
namespace sensors {
//% fixedInstances
export class UltraSonicSensor extends internal.UartSensor {
private promixityThreshold: number;
private promixityThreshold: sensors.internal.ThresholdDetector;
private movementThreshold: number;
constructor(port: number) {
super(port)
this.promixityThreshold = 10;
this.promixityThreshold = new sensors.internal.ThresholdDetector(this.id(), 0, 255, 10, 100); // range is 0..255cm
this.movementThreshold = 1;
}
@ -28,12 +30,11 @@ namespace sensors {
_update(prev: number, curr: number) {
// is there an object near?
if (prev >= this.promixityThreshold && curr < this.promixityThreshold)
control.raiseEvent(this._id, UltrasonicSensorEvent.ObjectNear); // TODO proper HI-LO sensor
this.promixityThreshold.setLevel(curr);
// did something change?
if (Math.abs(prev - curr) > this.movementThreshold)
control.raiseEvent(this._id, UltrasonicSensorEvent.ObjectDetected); // TODO debouncing
control.raiseEvent(this._id, UltrasonicSensorEvent.ObjectDetected);
}
/**
@ -47,29 +48,26 @@ namespace sensors {
//% blockNamespace=sensors
//% weight=100 blockGap=8
//% group="Ultrasonic Sensor"
on(event: UltrasonicSensorEvent, handler: () => void) {
onEvent(event: UltrasonicSensorEvent, handler: () => void) {
control.onEvent(this._id, event, handler);
if (event == UltrasonicSensorEvent.ObjectNear
&& this.distance() < this.promixityThreshold)
control.runInBackground(handler);
}
/**
* Waits for the event to occur
*/
//% help=input/ultrasonic/wait
//% block="wait `icons.ultrasonicSensor` %sensor|for %event"
//% block="wait until `icons.ultrasonicSensor` %sensor| %event"
//% blockId=ultrasonicWait
//% parts="ultrasonicsensor"
//% blockNamespace=sensors
//% weight=99 blockGap=8
//% group="Ultrasonic Sensor"
wait(event: UltrasonicSensorEvent) {
// TODO
waitUntil(event: UltrasonicSensorEvent) {
control.waitForEvent(this._id, event);
}
/**
* Gets the distance from the sonar in millimeters
* Gets the distance from the sonar in centimeters
* @param sensor the ultrasonic sensor port
*/
//% help=input/ultrasonic/distance
@ -79,10 +77,10 @@ namespace sensors {
//% blockNamespace=sensors
//% weight=65 blockGap=8
//% group="Ultrasonic Sensor"
distance() {
distance(): number {
// it supposedly also has an inch mode, but we stick to cm
this._setMode(0)
return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff; // range is 0..255
}
}

2
pxtarget.json
View File

@ -12,6 +12,8 @@
"libs/music",
"libs/color-sensor",
"libs/touch-sensor",
"libs/ultrasonic-sensor",
"libs/infrared-sensor",
"libs/ev3"
],
"simulator": {