web serial cleanup (#928)

* updated ticks

* fix enable and compile

* add debug mode

* don't try to change UI while downloading

* cleanup

* don't double open

* use cu

* add delay before reconnecting

* support for 200 ragne in field turn ratio

* updated docs

* fix docs
This commit is contained in:
Peli de Halleux 2019-09-30 11:13:28 -07:00 committed by GitHub
parent d85b5c5129
commit 8ca4558fc2
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6 changed files with 43 additions and 25 deletions

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@ -61,6 +61,12 @@ motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations);
motors.largeBC.stop();
```
### ~ hint
The **turn ratio range is -200, 200** unlike LabView who used -100,100.
### ~
## Tank
The **tank** blocks control the speed of two motors. These are commonly used for a differential drive robot. The blocks can also specify the duration, angle, or number of rotations.

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@ -22,7 +22,7 @@ If you decide to use a **value** of rotation distance, you need to choose a type
## Parameters
* **turnRatio**: a [number](/types/number) that is the percentage of speed of the drive motor. The follower motor runs at this speed. A negative number steers to the left and a positive number steers to the right. This is a number between `-100` and `100`.
* **turnRatio**: a [number](/types/number) that is the percentage of speed of the drive motor. The follower motor runs at this speed. A negative number steers to the left and a positive number steers to the right. This is a number between `-200` and `200`.
* **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motors in the reverse direction. This is the speed that the drive motor runs at.
* **value**: the [number](/types/number) of movement units to rotate for. A value of `0` means run the motor continuously.
* **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.

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@ -64,7 +64,6 @@ class WebSerialPackageIO implements pxt.HF2.PacketIO {
private _writer: any;
constructor(private port: SerialPort, private options: SerialOptions) {
this.openAsync();
}
async readSerialAsync() {
@ -173,7 +172,7 @@ export function initAsync(): Promise<void> {
}
if (WebSerialPackageIO.isSupported())
pxt.tickEvent("bluetooth.supported");
pxt.tickEvent("webserial.supported");
return Promise.resolve();
}
@ -274,7 +273,7 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
if (!useHID) return saveUF2Async()
pxt.tickEvent("bluetooth.flash");
pxt.tickEvent("webserial.flash");
let w: Ev3Wrapper;
return initHidAsync()
.then(w_ => {
@ -291,12 +290,14 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
`<ul>
<li>${lf("Make sure to stop your program or exit portview on the EV3.")}</li>
<li>${lf("Check your battery level.")}</li>
<li>${lf("Close EV3 LabView or other MakeCode editor tabs.")}
</ul>`,
hasCloseIcon: true,
hideCancel: true,
hideAgree: false,
agreeLbl: lf("Try again"),
}).then(() => w.disconnectAsync())
.then(() => Promise.delay(1000))
.then(() => w.reconnectAsync());
// nothing we can do
@ -309,11 +310,11 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
.then(() => w.flashAsync(rbfPath, rbfBIN))
.then(() => w.runAsync(rbfPath))
.then(() => {
pxt.tickEvent("bluetooth.success");
pxt.tickEvent("webserial.success");
return w.disconnectAsync()
//return Promise.delay(1000).then(() => w.dmesgAsync())
}).catch(e => {
pxt.tickEvent("bluetooth.fail");
pxt.tickEvent("webserial.fail");
useHID = false;
useWebSerial = false;
// if we failed to initalize, tell the user to retry

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@ -7,6 +7,13 @@ let bluetoothDialogShown = false;
pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
const projectView = opts.projectView;
pxt.debug('loading pxt-ev3 target extensions...')
function enableWebSerialAndCompileAsync() {
return enableWebSerialAsync()
.then(() => Promise.delay(500))
.then(() => projectView.compile());
}
const res: pxt.editor.ExtensionResult = {
deployCoreAsync,
showUploadInstructionsAsync: (fn: string, url: string, confirmAsync: (options: any) => Promise<number>) => {
@ -84,7 +91,7 @@ pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): P
onclick: () => {
pxt.tickEvent("bluetooth.enable");
if (bluetoothDialogShown) {
enableWebSerialAsync().done();
enableWebSerialAndCompileAsync().done();
} else {
bluetoothDialogShown = true;
confirmAsync({
@ -99,13 +106,13 @@ pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): P
}],
htmlBody: `<p>
${lf("You will be prompted to select a serial port.")}
${pxt.BrowserUtils.isWindows() ? lf("Look for 'Standard Serial over Bluetooth link'.") : lf("Loop for 'tty.EV3-SerialPort' or 'cu.EV3-SerialPort'")}
${pxt.BrowserUtils.isWindows()
? lf("Look for 'Standard Serial over Bluetooth link'.")
: lf("Loop for 'cu.EV3-SerialPort'.")}
${lf("If you have paired multiple EV3, you might have to try out multiple ports until you find the correct one.")}
</p>
`
}).then(() => enableWebSerialAsync())
.then(() => Promise.delay(500))
.then(() => projectView.compile())
}).then(() => enableWebSerialAndCompileAsync())
}
}
} : undefined, downloadAgain ? {

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@ -1,8 +1,12 @@
/**
* See https://www.lego.com/cdn/cs/set/assets/blt6879b00ae6951482/LEGO_MINDSTORMS_EV3_Communication_Developer_Kit.pdf
* https://github.com/mindboards/ev3sources/blob/master/lms2012/lms2012/source/bytecodes.h#L146
*/
import HF2 = pxt.HF2
import U = pxt.U
function log(msg: string) {
pxt.debug("EWRAP: " + msg)
pxt.log("serial: " + msg)
}
export interface DirEntry {
@ -19,7 +23,7 @@ export class Ev3Wrapper {
private cmdSeq = U.randomUint32() & 0xffff;
private lock = new U.PromiseQueue();
isStreaming = false;
dataDump = false;
dataDump = /talkdbg=1/.test(window.location.href);
constructor(public io: pxt.HF2.PacketIO) {
io.onData = buf => {

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@ -23,7 +23,7 @@ export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.Field
* @constructor
*/
constructor(value_: any, params: FieldTurnRatioOptions, opt_validator?: Function) {
super(String(value_), '-100', '100', null, '10', 'TurnRatio', opt_validator);
super(String(value_), '-200', '200', null, '10', 'TurnRatio', opt_validator);
this.params = params;
(this as any).sliderColor_ = '#a8aaa8';
}
@ -76,26 +76,26 @@ export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.Field
if (!this.path_) {
return;
}
let v = goog.math.clamp(parseFloat(this.getText()), -100, 100);
let v = goog.math.clamp(parseFloat(this.getText()), -200, 200);
if (isNaN(v)) {
v = 0;
}
const x = goog.math.clamp(parseFloat(this.getText()), -100, 100) / 100;
const theta = x * Math.PI / 2;
const cx = FieldTurnRatio.HALF;
const cy = FieldTurnRatio.HALF - 14;
const gamma = Math.PI - 2 * theta;
const r = FieldTurnRatio.RADIUS;
const alpha = 0.2 + Math.abs(x) * 0.5;
const x1 = 0;
const x = v / 100;
const nx = Math.max(-1, Math.min(1, x));
const theta = Math.max(nx) * Math.PI / 2;
const r = FieldTurnRatio.RADIUS - 6;
let cx = FieldTurnRatio.HALF;
const cy = FieldTurnRatio.HALF - 22;
if (Math.abs(x) > 1) {
cx -= (x - (x > 0 ? 1 : -1)) * r / 2; // move center of circle
}
const alpha = 0.2 + Math.abs(nx) * 0.5;
const y1 = r * alpha;
const y2 = r * Math.sin(Math.PI / 2 - theta);
const x2 = r * Math.cos(Math.PI / 2 - theta);
const y3 = y2 - r * alpha * Math.cos(2 * theta);
const x3 = x2 - r * alpha * Math.sin(2 * theta);
const d = `M ${cx} ${cy} C ${cx} ${cy - y1} ${cx + x3} ${cy - y3} ${cx + x2} ${cy - y2}`;
this.path_.setAttribute('d', d);