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3 Commits
upgradetsv
...
v1.4.22
Author | SHA1 | Date | |
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40aaf0fb18 | |||
b26cf289c3 | |||
f0821f8d6c |
@ -27,7 +27,6 @@ while (true) {
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music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
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music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
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}
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pause(1);
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}
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```
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@ -43,6 +42,5 @@ while (true) {
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music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
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music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
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}
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pause(1);
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}
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```
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11
libs/core/cooperate.ts
Normal file
11
libs/core/cooperate.ts
Normal file
@ -0,0 +1,11 @@
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namespace control {
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let lastPause = 0;
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const COOPERATION_INTERVAL = 20
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export function cooperate() {
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const now = control.millis()
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if (now - lastPause > COOPERATION_INTERVAL) {
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lastPause = now
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pause(1)
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}
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}
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}
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@ -21,8 +21,7 @@ namespace sensors.internal {
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const now = control.millis();
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if (now - this.lastQuery >= this.interval * 2)
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this.queryAndUpdate(); // sensor poller is not allowed to run
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if (now - this.lastPause >= this.interval * 5)
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pause(1); // allow events to trigger
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control.cooperate(); // allow events to trigger
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}
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private queryAndUpdate() {
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@ -124,7 +124,7 @@ namespace motors {
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export function stopAll() {
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const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
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writePWM(b);
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pause(1);
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control.cooperate();
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}
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/**
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@ -136,7 +136,7 @@ namespace motors {
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//% help=motors/reset-all
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export function resetAll() {
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reset(Output.ALL)
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pause(1);
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control.cooperate();
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}
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interface MoveSchedule {
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@ -269,7 +269,7 @@ namespace motors {
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if (this._brake && this._brakeSettleTime > 0)
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pause(this._brakeSettleTime);
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else {
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pause(1);
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control.cooperate();
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}
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}
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@ -280,7 +280,7 @@ namespace motors {
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// allow robot to settle
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this.settle();
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} else {
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pause(1);
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control.cooperate();
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}
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}
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@ -357,7 +357,7 @@ namespace motors {
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// special: 0 is infinity
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if (schedule.steps[0] + schedule.steps[1] + schedule.steps[2] == 0) {
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this._run(schedule.speed);
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pause(1);
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control.cooperate();
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return;
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}
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@ -28,7 +28,8 @@
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"platform.h",
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"platform.cpp",
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"dmesg.cpp",
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"integrator.ts"
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"integrator.ts",
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"cooperate.ts"
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],
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"testFiles": [
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"test.ts"
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@ -45,7 +45,7 @@ void setVolume(int volume) {
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struct ToneCmd {
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uint8_t cmd;
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uint8_t vol;
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uint8_t lvl;
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uint16_t freq;
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uint16_t duration;
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};
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@ -55,10 +55,26 @@ static void _stopSound() {
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writeDev(&cmd, sizeof(cmd));
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}
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static uint8_t _getVolumeLevel(uint8_t volume, uint8_t levels) {
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uint8_t level;
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uint8_t step = (uint8_t) (100 / (levels - 1));
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if (volume < step) {
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level = 0;
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} else if (volume > step * (levels - 1)) {
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level = levels;
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} else {
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level = (uint8_t) (volume / step);
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}
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return level;
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}
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static void _playTone(uint16_t frequency, uint16_t duration, uint8_t volume) {
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// https://github.com/mindboards/ev3sources/blob/78ebaf5b6f8fe31cc17aa5dce0f8e4916a4fc072/lms2012/c_sound/source/c_sound.c#L471
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uint8_t level = _getVolumeLevel(volume, 13);
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ToneCmd cmd;
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cmd.cmd = SOUND_CMD_TONE;
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cmd.vol = volume;
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cmd.lvl = level;
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cmd.freq = frequency;
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cmd.duration = duration;
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// (*SoundInstance.pSound).Busy = TRUE;
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@ -122,7 +138,8 @@ void playSample(Buffer buf) {
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stopUser();
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pthread_mutex_lock(&pumpMutex);
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*lmsSoundMMap = 1; // BUSY
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uint8_t cmd[] = {SOUND_CMD_PLAY, (uint8_t)((currVolume / 33) + 1)};
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// https://github.com/mindboards/ev3sources/blob/78ebaf5b6f8fe31cc17aa5dce0f8e4916a4fc072/lms2012/c_sound/source/c_sound.c#L605
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uint8_t cmd[] = {SOUND_CMD_PLAY, _getVolumeLevel(currVolume, 8)};
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writeDev(cmd, 2);
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decrRC(currentSample);
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currentSample = buf;
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@ -1,6 +1,6 @@
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{
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"name": "pxt-ev3",
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"version": "1.4.21",
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"version": "1.4.22",
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"description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
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"private": false,
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"keywords": [
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