0.0.13

editor/extension.ts

@@ -28,19 +28,33 @@ namespace pxt.editor {
 
     let initPromise: Promise<Ev3Wrapper>
     function initAsync() {
-        const forceHexDownload = /forceHexDownload/i.test(window.location.href);
+        if (initPromise)
-        if (Cloud.isLocalHost() && Cloud.localToken && !forceHexDownload) {
+            return initPromise
-            if (!initPromise)
+
-                initPromise = hf2Async()
+        let canHID = false
-                    .catch(err => {
+        if (U.isNodeJS) {
-                        initPromise = null
+            canHID = true
-                        noHID = true
+        } else {
-                        return Promise.reject(err)
+            const forceHexDownload = /forceHexDownload/i.test(window.location.href);
-                    })
+            if (Cloud.isLocalHost() && Cloud.localToken && !forceHexDownload)
+                canHID = true
+        }
+
+        if (noHID)
+            canHID = false
+
+        if (canHID) {
+            initPromise = hf2Async()
+                .catch(err => {
+                    initPromise = null
+                    noHID = true
+                    return Promise.reject(err)
+                })
         } else {
             noHID = true
-                initPromise = Promise.reject(new Error("no HID"))
+            initPromise = Promise.reject(new Error("no HID"))
         }
+
         return initPromise
     }
 

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

@@ -20,6 +20,8 @@
   "input.remoteTopRight": "Remote top-right button.",
   "output.createBuffer": "Create a new zero-initialized buffer.",
   "output.createBuffer|param|size": "number of bytes in the buffer",
+  "output.getCurrentSpeed": "Get motor speed.",
+  "output.getCurrentSpeed|param|out": "the output connection that the motor is connected to",
   "output.getPattern": "Pattern block.",
   "output.getPattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
   "output.setLights": "Set lights.",

libs/core/_locales/core-strings.json

@@ -16,13 +16,14 @@
   "input.remoteTopLeft|block": "remote top-left",
   "input.remoteTopRight|block": "remote top-right",
   "input|block": "input",
+  "output.getCurrentSpeed|block": "motor %out|speed",
   "output.getPattern|block": "%pattern",
   "output.setLights|block": "set status light %pattern=led_pattern",
   "output.setPower|block": "set motor %out| power to %power",
   "output.setSpeed|block": "set motor %out| speed to %speed",
-  "output.start|block": "turn motor %out| on",
+  "output.start|block": "turn motor %out|on",
-  "output.stop|block": "turn motor %out| off",
+  "output.stop|block": "turn motor %out|off",
-  "output.turn|block": "turn motor %out| on for %ms| milliseconds",
+  "output.turn|block": "turn motor %out| on for %ms|milliseconds",
   "output|block": "output",
   "screen.drawText|block": "print %text| at x: %x| y: %y",
   "screen|block": "screen",

libs/core/output.ts

@@ -29,7 +29,7 @@ namespace output {
         pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
         if (!pwmMM) control.fail("no PWM file")
         motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
-        
+
         stop(Output.ALL)
 
         let buf = output.createBuffer(1)
@@ -60,7 +60,7 @@ namespace output {
      * @param ms the number of milliseconds to turn the motor on, eg: 500
      * @param useBrake whether or not to use the brake, defaults to false
      */
-    //% blockId=output_turn block="turn motor %out| on for %ms| milliseconds"
+    //% blockId=output_turn block="turn motor %out| on for %ms|milliseconds"
     //% weight=100 group="Motors"
     export function turn(out: Output, ms: number, useBrake = false) {
         // TODO: use current power / speed configuration
@@ -77,7 +77,7 @@ namespace output {
      * Turn motor off.
      * @param out the output connection that the motor is connected to
      */
-    //% blockId=output_stop block="turn motor %out| off"
+    //% blockId=output_stop block="turn motor %out|off"
     //% weight=90 group="Motors"
     export function stop(out: Output, useBrake = false) {
         let b = mkCmd(out, DAL.opOutputStop, 1)
@@ -89,7 +89,7 @@ namespace output {
      * Turn motor on.
      * @param out the output connection that the motor is connected to
      */
-    //% blockId=output_start block="turn motor %out| on"
+    //% blockId=output_start block="turn motor %out|on"
     //% weight=95 group="Motors"
     export function start(out: Output) {
         let b = mkCmd(out, DAL.opOutputStart, 0)
@@ -101,11 +101,49 @@ namespace output {
         writePWM(b)
     }
 
-    /*export function getSpeed(out: Output): number {
+    export function clearCount(out: Output) {
-        let b = mkCmd(out, DAL.opOutputSpeed, 0)
+        let b = mkCmd(out, DAL.opOutputClearCount, 0)
-        readPWM(b)
+        writePWM(b)
-        return b.getNumber(NumberFormat.Int16LE, 1)
+        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))
+                return i * MotorDataOff.Size
+        }
+        return 0
+    }
+
+    export interface MotorData {
+        actualSpeed: number; // -100..+100
+        tachoCount: number;
+        count: number;
+    }
+
+    // only a single output at a time
+    export function getMotorData(out: Output): MotorData {
+        let buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
+        return {
+            actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),
+            tachoCount: buf.getNumber(NumberFormat.Int32LE, MotorDataOff.TachoCounts),
+            count: buf.getNumber(NumberFormat.Int32LE, MotorDataOff.TachoSensor),
+        }
+    }
+
+    /**
+     * Get motor speed.
+     * @param out the output connection that the motor is connected to
+     */
+    //% blockId=output_getCurrentSpeed block="motor %out|speed"
+    //% weight=70 group="Motors"
+    export function getCurrentSpeed(out: Output) {
+        return getMotorData(out).actualSpeed;
+    }
 
     /**
      * Set motor speed.

libs/core/test.ts

@@ -1,10 +1,10 @@
 screen.clear()
-screen.drawText(10, 30, "PXT!", Draw.Quad)
+screen.drawText("PXT!", 10, 30, Draw.Quad)
 
 screen.drawRect(40, 40, 20, 10, Draw.Fill)
 output.setLights(LightsPattern.Orange)
 
-screen.drawIcon(100, 50, screen.doubleIcon(screen.heart), Draw.Double|Draw.Transparent)
+screen.drawIcon(100, 50, screen.doubleIcon(screen.heart), Draw.Double | Draw.Transparent)
 
 input.buttonEnter.onEvent(ButtonEvent.Click, () => {
     screen.clear()
@@ -17,32 +17,32 @@ input.buttonLeft.onEvent(ButtonEvent.Click, () => {
 })
 
 input.buttonRight.onEvent(ButtonEvent.Click, () => {
-    screen.drawText(10, 60, "Right!")
+    screen.drawText("Right!", 10, 60)
 })
 
 input.buttonDown.onEvent(ButtonEvent.Click, () => {
-    screen.drawText(10, 60, "Down! ")
+    screen.drawText("Down! ", 10, 60)
 })
 
 input.buttonUp.onEvent(ButtonEvent.Click, () => {
-    screen.drawText(10, 60, "Up!  ")
+    screen.drawText("Up!  ", 10, 60)
 })
 
 
 let num = 0
 
 input.touchSensor.onEvent(ButtonEvent.Click, () => {
-    screen.drawText(10, 60, "Click!  " + num)
+    screen.drawText("Click!  " + num, 10, 60)
     num++
 })
 
 input.remoteTopLeft.onEvent(ButtonEvent.Click, () => {
-    screen.drawText(10, 60, "TOPLEFT " + num)
+    screen.drawText("TOPLEFT " + num, 10, 60)
     num++
 })
 
 input.remoteTopRight.onEvent(ButtonEvent.Down, () => {
-    screen.drawText(10, 60, "TOPRIGH " + num)
+    screen.drawText("TOPRIGH " + num, 10, 60)
     num++
 })
 

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.12",
+  "version": "0.0.13",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [
@@ -40,7 +40,7 @@
   },
   "dependencies": {
     "pxt-common-packages": "0.9.2",
-    "pxt-core": "2.0.6"
+    "pxt-core": "2.0.9"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"