Merge branch 'master' of github.com:Microsoft/pxt-ev3

docs/maker.md

@@ -14,6 +14,34 @@ These six activities require the LEGO® MINDSTORMS® Education EV3 Core Set (455
   "url":"/maker/sound-machine",
   "cardType": "example",
   "imageUrl": "/static/maker/sound-machine.png"
+},
+{
+  "name": "Sound Of Color",
+  "description": "Play different sounds based on the color",
+  "url":"/maker/sound-of-color",
+  "cardType": "example",
+  "imageUrl": "/static/maker/sound-of-color.png"
+},
+{
+  "name": "Security Gadget",
+  "description": "Raise the alarm when your brick is lifted!",
+  "url":"/maker/security-gadget",
+  "cardType": "example",
+  "imageUrl": "/static/maker/security-gadget.png"
+},
+{
+  "name": "Intruder Detector",
+  "description": "Raise the alarm when an intruder sneaks in",
+  "url":"/maker/intruder-detector",
+  "cardType": "example",
+  "imageUrl": "/static/maker/intruder-detector.png"
+},
+{
+  "name": "Puppet",
+  "description": "Build an automated puppet",
+  "url":"/maker/puppet",
+  "cardType": "example",
+  "imageUrl": "/static/maker/puppet.png"
 }
 ]
 ```

docs/maker/intruder-detector.md

@@ -0,0 +1,11 @@
+# Intruder Detector
+
+This program will activate an alarm when an object moves in front of the Ultrasonic Sensor.
+
+TODO support for event when value changes
+
+```blocks
+input.ultrasonic4.onObjectNear(function () {
+    music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
+})
+```

docs/maker/puppet.md

@@ -0,0 +1,17 @@
+# Puppet
+
+Use this program with the Programmable Brick and Large Motor.
+
+```blocks
+loops.forever(function () {
+    output.largeMotorA.setPower(30)
+    output.largeMotorA.on(true)
+    loops.pause(100)
+    output.largeMotorA.on(false)
+    music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
+    output.largeMotorA.setPower(-30)
+    output.largeMotorA.on(true)
+    loops.pause(100)
+    output.largeMotorA.on(false)
+})
+```

docs/maker/security-gadget.md

@@ -0,0 +1,9 @@
+# Security Gadget
+
+This program will activate an alarm when an object is lifted from the Touch Sensor.
+
+```blocks
+input.touchSensor1.onEvent(TouchSensorEvent.Released, function () {
+    music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
+})
+```

docs/maker/sound-of-color.md

@@ -0,0 +1,15 @@
+# Sound Of Color
+
+This program will play different sounds when the wheel is rotated. The sound is determined by which color is placed in front of the color Sensor.
+
+```blocks
+input.color3.onColorDetected(ColorSensorColor.Blue, function () {
+    music.playTone(Note.G4, music.beat(BeatFraction.Half))
+})
+input.color3.onColorDetected(ColorSensorColor.Red, function () {
+    music.playTone(Note.C5, music.beat(BeatFraction.Half))
+})
+input.color3.onColorDetected(ColorSensorColor.Green, function () {
+    music.playTone(Note.D5, music.beat(BeatFraction.Half))
+})
+```

libs/core/_locales/core-jsdoc-strings.json

@@ -56,22 +56,24 @@
   "input.remoteButtonCenter": "Remote beacon (center) button.",
   "input.remoteButtonTopLeft": "Remote top-left button.",
   "input.remoteButtonTopRight": "Remote top-right button.",
-  "output.Motor.off": "Power off the motor.",
-  "output.Motor.on": "Power on the motor.",
-  "output.Motor.onForTime": "Power on the motor for a specified number of milliseconds.",
-  "output.Motor.onForTime|param|brake": "whether or not to use the brake",
-  "output.Motor.onForTime|param|ms": "the number of milliseconds to turn the motor on, eg: 500",
-  "output.Motor.onForTime|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
-  "output.Motor.on|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
+  "output.Motor.clearCount": "Clears the motor count",
+  "output.Motor.count": "Gets motor step count.",
+  "output.Motor.on": "Power on or off the motor.",
+  "output.Motor.reset": "Resets the motor.",
+  "output.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
+  "output.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",
   "output.Motor.setPower": "Sets the motor power level from ``-100`` to ``100``.",
   "output.Motor.setPower|param|power": "the desired speed to use. eg: 50",
+  "output.Motor.setReversed": "Reverses the motor polarity",
   "output.Motor.speed": "Gets motor actual speed.",
+  "output.Motor.tachoCount": "Gets motor tacho count.",
   "output.createBuffer": "Create a new zero-initialized buffer.",
   "output.createBuffer|param|size": "number of bytes in the buffer",
   "output.pattern": "Pattern block.",
   "output.pattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
   "output.setStatusLight": "Set lights.",
   "output.setStatusLight|param|pattern": "the lights pattern to use.",
+  "output.stopAllMotors": "Stops all motors",
   "screen.clear": "Clear screen and reset font to normal.",
   "screen.doubleIcon": "Double size of an icon.",
   "screen.drawIcon": "Draw an icon on the screen.",

libs/core/_locales/core-strings.json

@@ -82,17 +82,24 @@
   "input.ultrasonic3|block": "ultrasonic sensor 3",
   "input.ultrasonic4|block": "ultrasonic sensor 4",
   "input|block": "input",
-  "output.Motor.off|block": "%motor|OFF then brake %brake",
-  "output.Motor.onForTime|block": "%motor|ON at power %power|for %ms=timePicker|ms then brake %brake",
-  "output.Motor.on|block": "%motor|ON at power %power",
+  "output.Motor.count|block": "%motor|count",
+  "output.Motor.on|block": "%motor|%onOrOff",
+  "output.Motor.setBrake|block": "%motor|set brake %brake",
   "output.Motor.setPower|block": "%motor|set power to %speed",
+  "output.Motor.setReversed|block": "%motor|set reversed %reversed",
   "output.Motor.speed|block": "%motor|speed",
-  "output.motorA|block": "motor A",
-  "output.motorB|block": "motor B",
-  "output.motorC|block": "motor C",
-  "output.motorD|block": "motor D",
+  "output.Motor.tachoCount|block": "%motor|tacho count",
+  "output.largeMotorA|block": "large motor A",
+  "output.largeMotorB|block": "large motor B",
+  "output.largeMotorC|block": "large motor C",
+  "output.largeMotorD|block": "large motor D",
+  "output.mediumMotorA|block": "medium motor A",
+  "output.mediumMotorB|block": "medium motor B",
+  "output.mediumMotorC|block": "medium motor C",
+  "output.mediumMotorD|block": "medium motor D",
   "output.pattern|block": "%pattern",
   "output.setStatusLight|block": "set status light %pattern=led_pattern",
+  "output.stopAllMotors|block": "stop all motors",
   "output|block": "output",
   "screen.print|block": "print %text| at x: %x| y: %y",
   "screen.setPixel|block": "set pixel %on| at x: %x| y: %y",

libs/core/output.ts

@@ -41,7 +41,7 @@ namespace output {
         buf[0] = DAL.opProgramStart
         writePWM(buf)
     }
-    
+
     function writePWM(buf: Buffer): void {
         init()
         pwmMM.write(buf)
@@ -61,64 +61,48 @@ namespace output {
 
     function resetMotors() {
         reset(Output.ALL)
-    }    
+    }
+
+    /**
+     * Stops all motors
+     */
+    //% blockId=motorStopAll block="stop all motors"
+    //% weight=10 group="Motors" blockGap=8
+    export function stopAllMotors() {
+        const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
+        writePWM(b)
+    }
 
     //% fixedInstances
     export class Motor extends control.Component {
-        port: Output;
-        constructor(port: Output) {
+        private port: Output;
+        private large: boolean;
+        private brake: boolean;
+
+        constructor(port: Output, large: boolean) {
             super();
             this.port = port;
+            this.large = large;
+            this.brake = false;
         }
 
         /**
-         * Power off the motor.
-         * @param motor the motor to turn off
-         */
-        //% blockId=outputMotorOf block="%motor|OFF then brake %brake"
-        //% brake.fieldEditor=toggleonoff
-        //% weight=100 group="Motors" blockGap=8
-        off(brake = false) {
-            const b = mkCmd(this.port, DAL.opOutputStop, 1)
-            b.setNumber(NumberFormat.UInt8LE, 2, brake ? 1 : 0)
-            writePWM(b)
-        }
-
-        /**
-         * Power on the motor.
+         * 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
          */
-        //% blockId=outputMotorOn block="%motor|ON at power %power"
-        //% power.min=-100 power.max=100 
+        //% blockId=outputMotorOn block="%motor|%onOrOff"
+        //% onOrOff.fieldEditor=toggleonoff
         //% weight=99 group="Motors" blockGap=8
-        on(power: number = 50) {
-            this.setPower(power);
-            const b = mkCmd(this.port, DAL.opOutputStart, 0)
-            writePWM(b);                
-        }
-
-        /**
-         * Power on the motor for a specified number of milliseconds.
-         * @param motor the motor to turn on
-         * @param power the motor power level from ``-100`` to ``100``, eg: 50
-         * @param ms the number of milliseconds to turn the motor on, eg: 500
-         * @param brake whether or not to use the brake
-         */
-        //% blockId=outputMotorOnForTime block="%motor|ON at power %power|for %ms=timePicker|ms then brake %brake"
-        //% power.min=-100 power.max=100 
-        //% brake.fieldEditor=toggleonoff
-        //% weight=98 group="Motors" blockGap=8
-        onForTime(power: number, ms: number, brake = false) {
-            step(this.port, {
-                power,
-                step1: 0,
-                step2: ms,
-                step3: 0,
-                useSteps: false,
-                useBrake: brake
-            })
-            loops.pause(ms);
+        on(onOrOff: boolean = true) {
+            if (onOrOff) {
+                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)
+            }
         }
 
         /**
@@ -127,7 +111,7 @@ namespace output {
          * @param power the desired speed to use. eg: 50
          */
         //% blockId=motorSetPower block="%motor|set power to %speed"
-        //% weight=60 group="Motors"
+        //% weight=62 group="Motors" blockGap=8
         //% speed.min=-100 speed.max=100
         setPower(power: number) {
             const b = mkCmd(this.port, DAL.opOutputPower, 1)
@@ -135,44 +119,109 @@ namespace output {
             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"
+        //% brake.fieldEditor=toggleonoff
+        //% weight=60 group="Motors" blockGap=8
+        setBrake(brake: boolean) {
+            this.brake = brake;
+        }
+
+        /** 
+         * Reverses the motor polarity
+        */
+        //% blockId=motorSetReversed block="%motor|set reversed %reversed"
+        //% reversed.fieldEditor=toggleonoff
+        //% weight=59 group="Motors"
+        setReversed(reversed: boolean) {
+            const b = mkCmd(this.port, DAL.opOutputPolarity, 1)
+            b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1);
+            writePWM(b)
+        }
+
         /**
          * Gets motor actual speed.
          * @param motor the port which connects to the motor
          */
         //% blockId=motorSpeed block="%motor|speed"
         //% weight=50 group="Motors" blockGap=8
-        speed() {
+        speed(): number {
             return getMotorData(this.port).actualSpeed;
-        }        
+        }
+
+        /**
+         * Gets motor step count.
+         * @param motor the port which connects to the motor
+         */
+        //% blockId=motorCount block="%motor|count"
+        //% weight=49 group="Motors" blockGap=8
+        count(): number {
+            return getMotorData(this.port).count;
+        }
+
+        /**
+         * Gets motor tacho count.
+         * @param motor the port which connects to the motor
+         */
+        //% blockId=motorTachoCount block="%motor|tacho count"
+        //% weight=48 group="Motors"
+        tachoCount(): number {
+            return getMotorData(this.port).tachoCount;
+        }
+
+        /**
+         * Clears the motor count
+         */
+        clearCount() {
+            const b = mkCmd(this.port, DAL.opOutputClearCount, 0)
+            writePWM(b)
+            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                if (this.port & (1 << i)) {
+                    motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
+                }
+            }
+        }
+
+        /**
+         * Resets the motor.
+         */
+        reset() {
+            reset(this.port);
+        }
     }
 
-    //% whenUsed fixedInstance block="motor B"
-    export const motorB = new Motor(Output.B);
+    //% whenUsed fixedInstance block="large motor A"
+    export const largeMotorA = new Motor(Output.A, true);
 
-    //% whenUsed fixedInstance block="motor C"
-    export const motorC = new Motor(Output.C);
+    //% whenUsed fixedInstance block="large motor B"
+    export const largeMotorB = new Motor(Output.B, true);
 
-    //% whenUsed fixedInstance block="motor A"
-    export const motorA = new Motor(Output.A);
+    //% whenUsed fixedInstance block="large motor C"
+    export const largeMotorC = new Motor(Output.C, true);
 
-    //% whenUsed fixedInstance block="motor D"
-    export const motorD = new Motor(Output.D);
+    //% whenUsed fixedInstance block="large motor D"
+    export const largeMotorD = new Motor(Output.D, true);
+
+    //% whenUsed fixedInstance block="medium motor A"
+    export const mediumMotorA = new Motor(Output.A, false);
+
+    //% whenUsed fixedInstance block="medium motor B"
+    export const mediumMotorB = new Motor(Output.B, false);
+
+    //% whenUsed fixedInstance block="medium motor C"
+    export const mediumMotorC = new Motor(Output.C, false);
+
+    //% whenUsed fixedInstance block="medium motor D"
+    export const mediumMotorD = new Motor(Output.D, false);
 
     function reset(out: Output) {
         let b = mkCmd(out, DAL.opOutputReset, 0)
         writePWM(b)
     }
 
-    function clearCount(out: Output) {
-        let b = mkCmd(out, DAL.opOutputClearCount, 0)
-        writePWM(b)
-        for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
-            if (out & (1 << i)) {
-                motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
-            }
-        }
-    }
-
     function outOffset(out: Output) {
         for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
             if (out & (1 << i))
@@ -197,12 +246,6 @@ namespace output {
         }
     }
 
-    function setPolarity(out: Output, polarity: number) {
-        let b = mkCmd(out, DAL.opOutputPolarity, 1)
-        b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-1, 1, polarity))
-        writePWM(b)
-    }
-
     interface StepOptions {
         power?: number;
         speed?: number; // either speed or power has to be present

libs/core/ultrasonic.ts

@@ -43,7 +43,7 @@ namespace input {
         //% blockNamespace=input
         //% weight=100 blockGap=8
         //% group="Ultrasonic Sensor"
-        onObjectNear(distance: number, handler: () => void) {
+        onObjectNear(handler: () => void) {
             control.onEvent(this._id, PromixityEvent.ObjectNear, handler);
             if (this.distance() == PromixityEvent.ObjectNear)
                 control.runInBackground(handler);