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Merge pull request #45 from Microsoft/motorsrename

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API tinkering
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Peli de Halleux 2017-10-31 16:43:27 +01:00 committed by GitHub
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6 changed files with 135 additions and 70 deletions
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19
libs/core/_locales/core-jsdoc-strings.json
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@ -42,14 +42,17 @@
"control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
"motors.Motor.clearCount": "Clears the motor count",
"motors.Motor.count": "Gets motor step count.",
"motors.Motor.on": "Power on or off the motor.",
"motors.Motor.move": "Moves the motor by a number of degrees",
"motors.Motor.move|param|angle": "the degrees to rotate, eg: 360",
"motors.Motor.move|param|power": "the power from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.Motor.power": "Sets the motor power level from ``-100`` to ``100``.",
"motors.Motor.power|param|power": "the power from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.Motor.reset": "Resets the motor.",
"motors.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
"motors.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",
"motors.Motor.setPower": "Sets the motor power level from ``-100`` to ``100``.",
"motors.Motor.setPower|param|power": "the desired speed to use. eg: 50",
"motors.Motor.setReversed": "Reverses the motor polarity",
"motors.Motor.speed": "Gets motor actual speed.",
"motors.Motor.stop": "Stops the motor",
"motors.Motor.tachoCount": "Gets motor tacho count.",
"motors.stopAllMotors": "Stops all motors",
"output.createBuffer": "Create a new zero-initialized buffer.",
@ -65,10 +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",
@ -77,8 +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.",

21
libs/core/_locales/core-strings.json
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@ -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",
@ -46,11 +48,12 @@
"control.raiseEvent|block": "raise event|from %src|with value %value",
"control|block": "control",
"motors.Motor.count|block": "%motor|count",
"motors.Motor.on|block": "%motor|%onOrOff",
"motors.Motor.setBrake|block": "%motor|set brake %brake",
"motors.Motor.setPower|block": "%motor|set power to %speed",
"motors.Motor.setReversed|block": "%motor|set reversed %reversed",
"motors.Motor.move|block": "move %motor|by %angle|degrees at %power|%",
"motors.Motor.power|block": "power %motor|to %power|%",
"motors.Motor.setBrake|block": "set %motor|brake %brake",
"motors.Motor.setReversed|block": "set %motor|reversed %reversed",
"motors.Motor.speed|block": "%motor|speed",
"motors.Motor.stop|block": "stop %motor",
"motors.Motor.tachoCount|block": "%motor|tacho count",
"motors.largeMotorA|block": "large motor A",
"motors.largeMotorB|block": "large motor B",
@ -70,16 +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",

37
libs/core/ir.ts
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@ -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
}
/**

73
libs/core/output.ts
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@ -87,43 +87,66 @@ namespace motors {
}
/**
* Power on or off the motor.
* @param motor the motor to turn on
* @param power the motor power level from ``-100`` to ``100``, eg: 50
* Sets the motor power level from ``-100`` to ``100``.
* @param motor the output connection that the motor is connected to
* @param power the power from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=outputMotorOn block="%motor|%onOrOff"
//% onOrOff.fieldEditor=toggleonoff
//% blockId=motorSetPower block="power %motor|to %power|%"
//% weight=99 group="Motors" blockGap=8
on(onOrOff: boolean = true) {
if (onOrOff) {
//% power.min=-100 power.max=100
power(power: number) {
power = Math.clamp(-100, 100, power >> 0);
const b = mkCmd(this.port, DAL.opOutputPower, 1)
b.setNumber(NumberFormat.Int8LE, 2, power)
writePWM(b)
if (power) {
const b = mkCmd(this.port, DAL.opOutputStart, 0)
writePWM(b);
} else {
const b = mkCmd(this.port, DAL.opOutputStop, 1)
b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
writePWM(b)
this.stop();
}
}
/**
* Sets the motor power level from ``-100`` to ``100``.
* @param motor the output connection that the motor is connected to
* @param power the desired speed to use. eg: 50
* Moves the motor by a number of degrees
* @param degrees the angle to turn the motor
* @param angle the degrees to rotate, eg: 360
* @param power the power from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=motorSetPower block="%motor|set power to %speed"
//% weight=62 group="Motors" blockGap=8
//% speed.min=-100 speed.max=100
setPower(power: number) {
const b = mkCmd(this.port, DAL.opOutputPower, 1)
b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, power))
writePWM(b)
//% blockId=motorMove block="move %motor|by %angle|degrees at %power|%"
//% weight=98 group="Motors" blockGap=8
//% power.min=-100 power.max=100
move(angle: number, power: number) {
angle = angle >> 0;
power = Math.clamp(-100, 100, power >> 0);
step(this.port, {
speed: power,
step1: 0,
step2: angle,
step3: 0,
useSteps: true,
useBrake: this.brake
})
}
/**
* Stops the motor
*/
//% blockId=motorStop block="stop %motor"
//% weight=97 group="Motors"
stop() {
const b = mkCmd(this.port, DAL.opOutputStop, 1)
b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
writePWM(b);
}
/**
* Sets the automatic brake on or off when the motor is off
* @param brake a value indicating if the motor should break when off
*/
//% blockId=outputMotorSetBrakeMode block="%motor|set brake %brake"
//% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake"
//% brake.fieldEditor=toggleonoff
//% weight=60 group="Motors" blockGap=8
setBrake(brake: boolean) {
@ -133,7 +156,7 @@ namespace motors {
/**
* Reverses the motor polarity
*/
//% blockId=motorSetReversed block="%motor|set reversed %reversed"
//% blockId=motorSetReversed block="set %motor|reversed %reversed"
//% reversed.fieldEditor=toggleonoff
//% weight=59 group="Motors"
setReversed(reversed: boolean) {
@ -147,7 +170,7 @@ namespace motors {
* @param motor the port which connects to the motor
*/
//% blockId=motorSpeed block="%motor|speed"
//% weight=50 group="Motors" blockGap=8
//% weight=72 group="Motors" blockGap=8
speed(): number {
return getMotorData(this.port).actualSpeed;
}
@ -157,7 +180,7 @@ namespace motors {
* @param motor the port which connects to the motor
*/
//% blockId=motorCount block="%motor|count"
//% weight=49 group="Motors" blockGap=8
//% weight=71 group="Motors" blockGap=8
count(): number {
return getMotorData(this.port).count;
}
@ -167,7 +190,7 @@ namespace motors {
* @param motor the port which connects to the motor
*/
//% blockId=motorTachoCount block="%motor|tacho count"
//% weight=48 group="Motors"
//% weight=70 group="Motors"
tachoCount(): number {
return getMotorData(this.port).tachoCount;
}

47
libs/core/ultrasonic.ts
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@ -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;
}

8
libs/ev3/ns.ts
View File

@ -5,12 +5,12 @@ namespace brick {
}
//% color="#8AC044" weight=95 icon="\uf185"
namespace motors {
//% color="#D42878" weight=95
namespace sensors {
}
//% color="#D42878" weight=90
namespace sensors {
//% color="#8AC044" weight=90 icon="\uf185"
namespace motors {
}
//% color="#DF5014" weight=80