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199 Commits

Author SHA1 Message Date
59ca9cf463 0.0.52 2018-01-04 13:04:23 -08:00
7da811246c Behaviors Driven Robotics (#178)
* adding avoid crash behavior

* more implementation

* add another simple behavior

* fixed synched motors

* bump common packages
2018-01-04 12:55:30 -08:00
69f8453947 Merge pull request #177 from Microsoft/sounds_bug_fix
Fix stopAllSounds simulator bug
2018-01-04 12:52:17 -08:00
39ba9b81af Initial work 2018-01-04 12:20:31 -08:00
51a14596cd 0.0.51 2018-01-04 11:41:49 -08:00
8518c446cd Merge pull request #176 from Microsoft/iefonticons
Fix font icons on IE, and add package icon on Windows
2018-01-04 11:40:42 -08:00
2f69df0d9d Fix font icons on IE, and add package icon on Windows 2018-01-04 11:39:20 -08:00
1789d0ce21 Lowercase menubar titles. 2018-01-04 10:42:37 -08:00
d0809510c4 Merge pull request #174 from Microsoft/addbetatag
Add beta tag.
2018-01-04 10:14:43 -08:00
6b9c0eaf65 Add beta tag. #150 2018-01-04 10:14:11 -08:00
52bdf94233 Merge pull request #173 from Microsoft/blockiconfont
Add block icon font
2018-01-04 09:57:11 -08:00
fd50ed8f7c Add block icon font 2018-01-04 09:52:12 -08:00
ba0eb93b0f use common packages tests implementation (#171) 2018-01-04 09:23:28 -08:00
9a4ed45797 0.0.50 2018-01-04 09:19:33 -08:00
820fdf3a3c Merge pull request #172 from Microsoft/fixwinicons
Fix check and cancel icons on windows
2018-01-04 09:18:30 -08:00
348d5ffc26 Fix check and cancel icons on windows 2018-01-04 09:17:30 -08:00
95e47a0b25 Merge pull request #169 from Microsoft/screenimgeditor
Initial screen field editor.
2018-01-04 08:37:56 -08:00
c3312ed5d1 Merge pull request #170 from Microsoft/clearcounts
moving motor blocks around
2018-01-04 08:37:39 -08:00
b7cdc7d0fe moving blocks around 2018-01-04 08:25:02 -08:00
dde5a35cd9 Initial screen field editor. Adding Lego designer assets to legoresources 2018-01-03 17:20:35 -08:00
be398d84ee Merge pull request #135 from Microsoft/field_ports
Add an output port field editor
2018-01-03 17:07:34 -08:00
4445acce7a Split editor extensions into multiple module loaded files. Re-using editor/deploy.ts for cmds. Fixing field ports 2018-01-03 16:18:39 -08:00
d6d8b0655b Merge branch 'master' into field_ports 2018-01-03 15:12:35 -08:00
216aa1ddaf Fix save icon 2018-01-03 15:07:45 -08:00
783a561941 0.0.49 2018-01-03 15:02:35 -08:00
c916664ae7 Fix download and save icons. 2018-01-03 15:02:24 -08:00
4b836ede1b Merge pull request #167 from Microsoft/blockfixes
Block layout fixes.
2018-01-03 14:22:18 -08:00
52fdaeec99 remove colon from print line block 2018-01-03 14:22:00 -08:00
2aaa45e10d Merge pull request #168 from Microsoft/remainingiconfixes
Remaining icon fixes.
2018-01-03 14:21:04 -08:00
7993363e89 Remaining icon fixes. Using blockIcons to show custom icons for built in categories 2018-01-03 14:20:33 -08:00
4d671f6cb0 Block layout fixes. Fixes to screen blocks. Adding print line API. 2018-01-03 14:00:08 -08:00
cc020d5a81 Merge pull request #124 from Microsoft/icon_font
Icon font
2018-01-03 12:35:52 -08:00
5c39862a44 Fix the rest of the icons (sensors, math, variables and extensions) 2018-01-03 12:35:33 -08:00
e0e5c95989 Merge branch 'master' into icon_font 2018-01-03 11:56:28 -08:00
800b4ad224 Merge pull request #165 from Microsoft/fixnullrefthis
Fix null ref for this when _update is called.
2018-01-03 11:42:38 -08:00
40c3b4b0cf Tweaking sensor icon 2018-01-03 11:36:43 -08:00
64bdc35e6f Merge paths for sensor icon 2018-01-03 11:29:49 -08:00
2b5f702bb6 Fix null ref for this when _update is called. 2018-01-03 11:20:37 -08:00
1c81ecd23f send ports data to console 2018-01-03 08:24:54 -08:00
4d223374b5 Differential drive (#164)
* clear sync speed cmd

* differential drive model

* use cm/s

* fixed aggressive clearing of motor sync command

* better computation of turn artio

* improved robot dimensions

* moving block up

* hanbdle infinite case

* correct handling of inifinte time/step

* better stop handling
2018-01-03 00:27:05 -08:00
dd9cf9014f Merge pull request #163 from Microsoft/fixnullderefbuttons
Fix null dereferencing issue for buttons
2018-01-02 23:19:55 -08:00
eb11d7926c Fix null dereferencing issue for buttons 2018-01-02 23:18:54 -08:00
609740dc48 Merge pull request #162 from Microsoft/moresensorfixes
Better fix for null dereferencing issue.
2018-01-02 22:51:45 -08:00
955a2c9757 Better fix for null dereferencing issue. Fix initial Color sensor mode (default). 2018-01-02 22:51:12 -08:00
02838e6c30 Merge pull request #161 from Microsoft/colorgridfixes
Update Color sensor control (colorGrid) to match spec
2018-01-02 22:30:04 -08:00
b0c54e84e6 Update Color sensor control (colorGrid) to match spec 2018-01-02 22:29:12 -08:00
b6644b7a23 Merge pull request #160 from Microsoft/sensorfixes
Sensor fixes. Fix race condition
2018-01-02 22:23:14 -08:00
3c4c38eb59 Fix null dereferencing issue. Fix sensor mode changed not clearing cached control. 2018-01-02 22:22:14 -08:00
29aba7b10b Fix advanced icons 2018-01-02 17:30:19 -08:00
7427142243 Merge branch 'icon_font' of https://github.com/Microsoft/pxt-ev3 into icon_font 2018-01-02 17:17:13 -08:00
436500babb Merge 2018-01-02 17:11:24 -08:00
82be4e344b More work 2018-01-02 17:07:36 -08:00
81bfca4ed6 0.0.48 2018-01-02 16:20:30 -08:00
c35dbdd38f Motor sync support in simulator (#159)
* parse sync motor command

* better sim support

* sync support

* fixing tank
2018-01-02 16:20:00 -08:00
1bc93013e6 0.0.47 2018-01-02 14:51:00 -08:00
58148eb1c3 Square shaped corners for Blockly blocks and dropdowns. (#158) 2018-01-02 13:32:07 -08:00
a7c62b45b2 Use legoIcons font for flyout headings 2018-01-02 13:01:28 -08:00
bd765d49ee Add lego resources.AI 2018-01-02 12:59:48 -08:00
383ca5467d Remove advexpanded/advcollapsed 2018-01-02 12:49:25 -08:00
e240e3b394 Check, cancel 2018-01-02 10:47:04 -08:00
7affbf8cb6 Save, download 2018-01-02 10:47:04 -08:00
4dff282633 Initial work 2018-01-02 10:47:04 -08:00
5d470fdcef Merge pull request #143 from Microsoft/persistselected
Persist selected state of controls across simulator restarts
2017-12-29 14:02:50 -08:00
f30eac41e9 Persist selected state of controls across simulator restarts 2017-12-28 11:17:18 -08:00
d7f46c0fb5 Hide screen picker properly from typescript 2017-12-28 11:15:53 -08:00
58384017f2 0.0.46 2017-12-28 09:08:27 -08:00
01f7fe633c Motorworks2 (#141)
* fixing polarity

* allocate motor on motorUsed only

* perform sub-step integration step for better precision
2017-12-28 09:07:57 -08:00
a9a9a89811 Better fonts and better alignment of motor reporter control 2017-12-27 20:43:39 -08:00
7e2251d8ac Fix negative motor reporting 2017-12-27 20:35:36 -08:00
1903a6e347 Merge pull request #140 from Microsoft/motorreporters
Add motor reporter control
2017-12-27 20:32:53 -08:00
2fb75a2d83 Added todo 2017-12-27 17:07:50 -08:00
0da175a8cd Add motor reporter control 2017-12-27 17:06:23 -08:00
f01370e4fd Simulator support for motor commands (#137)
* support for "step" functions

* locale files

* enum issue

* fixing decoding of array

* implement clear count

* log unknown commands
2017-12-27 17:05:15 -08:00
751df2fe8c Merge pull request #139 from Microsoft/colorandsliderresizefixes
Fix resizing in controls to work for all sizes including full screen
2017-12-27 16:31:20 -08:00
8be4bb11d8 Fix resizing in controls to work for all sizes including full screen 2017-12-27 16:30:42 -08:00
342e714ae2 Merge pull request #138 from Microsoft/updatemotorassets
Update motor SVG assets and connections
2017-12-27 14:48:50 -08:00
fb31b81f7e Update motor SVG assets and connections 2017-12-27 14:48:15 -08:00
8204995749 Fix wire view to match spec size of wires. 2017-12-26 23:28:29 -08:00
85c14bb05a Fix rotation and distance slider update state 2017-12-26 23:23:26 -08:00
c398a5a133 Update padding and fix wiring order 2017-12-26 23:19:04 -08:00
a1b059171b Add a output port field editor 2017-12-24 17:46:58 -08:00
afaedaa0b2 Merge pull request #134 from Microsoft/fixflickering
Fix resizing flickering issue in the simulator
2017-12-24 16:19:36 -08:00
0aa41e9a64 Fix resizing flickering issue, remove flip animation on start, remove the need for a default height and width in the layout engine 2017-12-24 11:59:01 -08:00
88df2e14cb Merge pull request #125 from Microsoft/sim_refactor_resize
Refactor sim for better resizing and support for multiple controls to be open
2017-12-22 14:01:35 -08:00
180f32f25c Simulator refactoring to support better resizing of modules and controls 2017-12-22 14:00:23 -08:00
995527675a Check, cancel 2017-12-21 11:30:32 -08:00
84eb849bc7 Save, download 2017-12-21 11:10:47 -08:00
5e0e35b4bd Initial work 2017-12-21 11:00:54 -08:00
300a2c1476 Merge pull request #123 from Microsoft/gradient_circle
Gradient circle
2017-12-20 16:34:59 -08:00
703bd01931 Increase stroke width 2017-12-20 16:25:26 -08:00
75a65eeab2 Add lego icons 2017-12-20 16:16:13 -08:00
38a9f153f7 pxtarget 2017-12-20 15:15:12 -08:00
3c5dae8c7b Small changes 2017-12-20 15:11:44 -08:00
85345969d3 Initial work 2017-12-20 14:58:41 -08:00
ac1e5d2846 Remove constant resize 2017-12-19 21:20:06 -08:00
11b4bbc07e Fix controls 2017-12-19 17:20:01 -08:00
7f5b8aed99 more tweaking of angle encoding 2017-12-19 17:15:53 -08:00
c989e2fdab Merge pull request #121 from Microsoft/motorphysics
Motor work
2017-12-19 17:07:15 -08:00
d3dcb5de85 Use setChangedState for touch and color sensors 2017-12-19 17:01:45 -08:00
9cca35d49f encoding 32bit angle into data buffer 2017-12-19 16:54:44 -08:00
7123bfecd3 removing cancel animation stuff 2017-12-19 16:21:14 -08:00
c8ac770983 read motor state into lms_motor 2017-12-19 16:18:17 -08:00
aa031036ee updating motor state in game loop 2017-12-19 16:03:26 -08:00
a7d002d949 0.0.45 2017-12-19 15:10:32 -08:00
93fd8c8c78 removing more icons 2017-12-19 15:10:13 -08:00
1765ca2d35 Merge pull request #116 from Microsoft/revert_screenopt
Use game loop instead of animation queue
2017-12-19 14:58:37 -08:00
1ab7ae6cfa minor PR feedback 2017-12-19 14:57:28 -08:00
3acf4e9ac5 More hardware tests (#119) 2017-12-19 14:55:48 -08:00
ef5fa9ae82 Minor fix to killing the animation when the sim is killed 2017-12-19 14:55:43 -08:00
e1f7a5b8cf Merge pull request #118 from Microsoft/ambient_light_threshold
Set high/low to 20/5 for ambient light mode
2017-12-19 14:42:54 -08:00
2c73bfc813 Set high/low to 20/5 2017-12-19 14:40:30 -08:00
d78d9c8686 basic ports view (#115)
* basic ports view

* slight adjustement of rendering
2017-12-19 14:26:57 -08:00
2157af3e63 Using game loop instead of queueAnimationUpdate 2017-12-19 14:20:35 -08:00
eac3e183c3 better test support 2017-12-19 13:10:40 -08:00
785ddff706 Reverting screen optimization to use SetInterval and didChange 2017-12-19 12:53:12 -08:00
e07d6e3a31 0.0.44 2017-12-19 11:53:50 -08:00
763ad3f763 0.0.43 2017-12-19 11:38:02 -08:00
919a03951c Removing icons (#114)
* removing icons

* added "pause for light"
2017-12-19 11:37:33 -08:00
9e427898ae added test framework (#113)
* added test framework

* added toString on motors

* enabling logs
2017-12-19 07:07:50 -08:00
60bf3a17d3 a mini-console support with scroll up / down (#112)
* a mini-console support with scroll up / down

* fix compile error
2017-12-18 22:36:32 -08:00
0529759a80 Fix ultrasonic value to use cm instead of 0.1 cm units (#110)
* Fix simulator

* use 250 instead of 255
2017-12-18 20:30:56 -08:00
b07f157181 0.0.42 2017-12-18 18:24:46 -08:00
2f5f7d4133 Merge pull request #111 from Microsoft/scale_screen
Add tiny padding around the screen for the canvas.
2017-12-18 17:08:02 -08:00
e6e1dce59f Add tiny padding around the screen for the canvas. 2017-12-18 17:07:23 -08:00
43a9d03231 fixing pauseUntilReady signature 2017-12-18 14:45:44 -08:00
c0f6cd3651 test passing on hw 2017-12-18 14:31:17 -08:00
f1445c6e89 Motor pause until ready (#108)
* adding command to pause until ready

* adding console API

* adding ready support for motors

* fix time output scale

* fixing angle
2017-12-18 14:13:38 -08:00
04275ee35c 0.0.41 2017-12-18 13:22:13 -08:00
f8d0594eca Merge pull request #107 from Microsoft/initial_sim
Initial sim implementation
2017-12-18 13:21:48 -08:00
5be3b31e00 Merge branch 'master' into initial_sim 2017-12-18 13:21:35 -08:00
84c1079e50 Fix Safari bug. 2017-12-18 13:19:49 -08:00
6320379d02 Initial sim implementation 2017-12-18 13:04:17 -08:00
b166f6034e storing test 2017-12-18 09:43:44 -08:00
d07f672b28 fixing single motor set speed 2017-12-18 09:17:19 -08:00
363e076f36 fixing motor compilation 2017-12-18 08:54:53 -08:00
8bf6f265f7 Merge pull request #105 from Microsoft/motorfixes
Motor fixes
2017-12-18 00:54:53 -08:00
217958aec3 fix polarity 2017-12-17 23:19:38 -08:00
367b1b0d1a properly setting multiple-motor options 2017-12-17 23:00:07 -08:00
6836852122 refactoring motors wiht base class (#104) 2017-12-17 22:47:13 -08:00
944098b9f9 Minor refactor fix (#102)
* Minor fix to a refactor of motor output this.brake to this._brake

* No (_this) in global context

* Minor fix
2017-12-17 21:12:18 -08:00
539cf3d73e 0.0.40 2017-12-15 14:30:51 -08:00
4b3e7cfb7d bump pxt-core to 3.0.2, bump pxt-common-packages to 0.14.13, 2017-12-15 14:30:43 -08:00
b144744509 Add tsconfig.json for easier library editing (#96) 2017-12-15 14:29:31 -08:00
e591bed6ad Add 'clear screen' block to brick category (#100) 2017-12-15 14:29:10 -08:00
6a4e64eac0 Merge pull request #79 from Microsoft/motorsync
Motor sync block
2017-12-15 14:28:03 -08:00
f7dd14ff7b Merge pull request #88 from Microsoft/even_more_sounds
Add 'stopAllSounds' block
2017-12-15 11:36:31 -08:00
bfd34cedd6 Update built files 2017-12-15 11:04:16 -08:00
8e1c075911 Merge pull request #98 from Microsoft/portFixes
Fix order of color and ultrasonic sensor ports.
2017-12-15 10:45:34 -08:00
a02f364a4c Update function names for consistency 2017-12-15 10:42:44 -08:00
48fee2c215 Merge pull request #99 from Microsoft/ui_changes
Some UI theming. square buttons
2017-12-15 08:55:45 -08:00
5780d1982c Some UI theming. square buttons 2017-12-15 08:55:21 -08:00
6fb08f0f7b Fix order of color and ultrasonic sensor ports. 2017-12-15 07:48:42 -08:00
13f8659b98 Merge pull request #97 from Microsoft/startup_delay
Startup delay for sensors to get values
2017-12-15 07:05:21 -08:00
edc9d17a8c Merge pull request #95 from Microsoft/serialnumber
Implement getSerialNumber (based on BT MAC)
2017-12-15 07:04:21 -08:00
c7a3f5bbd0 Delay user code by 100ms to get sensor reading (fixes #90) 2017-12-15 11:55:20 +00:00
41d5052583 Run sensor "change handler" also with the initial value 2017-12-15 11:54:53 +00:00
07ddec343a Formatting 2017-12-15 11:30:15 +00:00
5a9a5e997a Error reporting fixes 2017-12-15 11:29:18 +00:00
55b6549999 Implement getSerialNumber (based on BT MAC) 2017-12-15 11:25:23 +00:00
fcdc350e40 more motor work 2017-12-14 17:01:23 -08:00
9dedbeae1b updated parameters 2017-12-14 13:26:04 -08:00
124d8a0fd8 tank support 2017-12-14 13:25:27 -08:00
81fcbb6916 tweaks of blocks 2017-12-14 13:07:10 -08:00
d436bd1227 Fix simulator stop() method 2017-12-14 09:41:01 -08:00
cb648019bb Progress 2017-12-14 09:17:47 -08:00
11a88a9d94 updated signatures 2017-12-13 23:00:37 -08:00
92178f3371 bring back speed 2017-12-13 22:54:08 -08:00
3c86ae286f more work on motors 2017-12-13 22:40:40 -08:00
1b6d84a9b8 Merge branch 'master' into motorsync 2017-12-13 21:16:33 -08:00
2d81be3b24 Add 'stopAllSounds' block 2017-12-13 16:31:42 -08:00
14f57f54bf Merge pull request #87 from Microsoft/motor_fix_2
Motor data fix
2017-12-13 15:56:17 -08:00
e7c697c24d Merge pull request #85 from Microsoft/on_color_fix
Fix "on color detected" block
2017-12-13 15:55:47 -08:00
7ac63f038c Merge pull request #84 from Microsoft/fix_image_attrs
Adding block identity
2017-12-13 15:55:36 -08:00
557926d631 Merge pull request #78 from Microsoft/waitUntiltopauseUntil
renaming all "wait until" to "pause until"
2017-12-13 15:52:46 -08:00
da62d51615 Merge branch 'master' into motor_fix_2 2017-12-13 15:48:43 -08:00
3918857fcc Merge branch 'master' into on_color_fix 2017-12-13 15:48:24 -08:00
f1dcebdd88 Merge branch 'master' into fix_image_attrs 2017-12-13 15:48:09 -08:00
1d35c78737 Merge branch 'master' into motorsync 2017-12-13 15:47:52 -08:00
d17326ad7a Merge branch 'master' into waitUntiltopauseUntil 2017-12-13 15:47:27 -08:00
4948a88833 Merge pull request #83 from Microsoft/new_ts_cleanup
New ts cleanup
2017-12-13 15:46:58 -08:00
b73b924ec4 ignoreing docs errors 2017-12-13 15:35:53 -08:00
641d292c33 Clean commit for motor fix 2017-12-13 14:55:14 -08:00
223275fd65 Moving a line of code 2017-12-13 13:35:28 -08:00
6e42e816d3 Adding block identity 2017-12-13 10:42:49 -08:00
5678cf5df9 Fixing test file 2017-12-13 10:29:12 -08:00
67ec4accb9 Monitor memory usage and panic on over 8MB used 2017-12-13 15:28:52 +00:00
fa867c3a34 Cleanup 2017-12-12 15:24:36 -08:00
7865876e64 Merge branch 'master' into waitUntiltopauseUntil 2017-12-12 14:19:35 -08:00
113b42656c sync command working 2017-12-12 14:08:45 -08:00
7557380722 adding sync command 2017-12-12 13:20:25 -08:00
3e2a1ec9e1 missing strings files 2017-12-12 11:23:29 -08:00
09db613620 updated docs 2017-12-12 10:49:45 -08:00
bacb4673c9 renaming all "wait until" to "pause until" 2017-12-12 10:46:56 -08:00
e649a167cd Merge pull request #74 from Microsoft/powertospeed
some speed renamings
2017-12-11 23:20:17 -08:00
997e8efb20 Merge branch 'master' of https://github.com/Microsoft/pxt-ev3 2017-12-11 17:08:12 -08:00
fbc6fc30a7 some speed renamings 2017-12-11 16:07:46 -08:00
fee2329ca7 Merge branch 'master' of https://github.com/Microsoft/pxt-ev3 2017-12-08 11:23:07 -08:00
5768fcaf35 Merge branch 'master' of https://github.com/Microsoft/pxt-ev3 2017-12-07 13:58:38 -08:00
0886a5d4e1 Merge branch 'master' of https://github.com/Microsoft/pxt-ev3 2017-11-30 15:54:11 -08:00
195 changed files with 17751 additions and 4600 deletions

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@ -2,7 +2,7 @@
import * as fs from 'fs';
require("./editor")
require("./editor/deploy")
declare namespace pxt.editor {
function deployCoreAsync(resp: pxtc.CompileResult, disconnect?: boolean): Promise<void>;

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90
docs/static/fonts/icons/iconfont.css vendored Normal file
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@ -0,0 +1,90 @@
@font-face {
font-family: "iconfont";
src: url("iconfont.eot?73552ec404b3a3d3769a3f04fa58c2c4?#iefix") format("embedded-opentype"),
url("iconfont.woff2?73552ec404b3a3d3769a3f04fa58c2c4") format("woff2"),
url("iconfont.woff?73552ec404b3a3d3769a3f04fa58c2c4") format("woff");
}
.icon {
line-height: 1;
}
.icon:before {
font-family: iconfont !important;
font-style: normal;
font-weight: normal !important;
vertical-align: top;
}
.icon-ultrasonic:before {
content: "\f101";
}
.icon-color:before {
content: "\f102";
}
.icon-touch:before {
content: "\f103";
}
.icon-gyro:before {
content: "\f104";
}
.icon-addpackage:before {
content: "\f105";
}
.icon-brick:before {
content: "\f106";
}
.icon-controls:before {
content: "\f107";
}
.icon-functions:before {
content: "\f108";
}
.icon-list:before {
content: "\f109";
}
.icon-logic:before {
content: "\f10a";
}
.icon-loops:before {
content: "\f10b";
}
.icon-math:before {
content: "\f10c";
}
.icon-motors:before {
content: "\f10d";
}
.icon-music:before {
content: "\f10e";
}
.icon-sensors:before {
content: "\f10f";
}
.icon-text:before {
content: "\f110";
}
.icon-variables:before {
content: "\f111";
}
.icon-advancedcollapsed:before {
content: "\f112";
}
.icon-advancedexpanded:before {
content: "\f113";
}
.icon-cancel:before {
content: "\f114";
}
.icon-check:before {
content: "\f115";
}
.icon-download:before {
content: "\f116";
}
.icon-save:before {
content: "\f117";
}
.icon-blocks:before {
content: "\f118";
}

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docs/static/fonts/icons/iconfont.svg vendored Normal file
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@ -0,0 +1,84 @@
<?xml version="1.0" standalone="no"?>
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd" >
<svg xmlns="http://www.w3.org/2000/svg">
<defs>
<font id="iconfont" horiz-adv-x="40">
<font-face font-family="iconfont"
units-per-em="40" ascent="40"
descent="0" />
<missing-glyph horiz-adv-x="0" />
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horiz-adv-x="40" d=" M5.2 15.7H36.5V1.7H5.2V15.7z M28.5 24.2L26.1 26.6L22.6 23.1L22.6 36.5L19.1 36.5L19.1 23.5L16 26.6L13.6 24.2L20.9 16.7L21 16.9L21.2 16.7z" />
<glyph glyph-name="save"
unicode="&#xF117;"
horiz-adv-x="40" d=" M25 34.5C25 33.6 25 32.8 25 31.9C25 31 24.7 30.9 24 30.9C23.5 30.9 22.8 30.9 22.4 30.9C22.1 30.9 21.4 31 21.4 31.7V31.9V36.9C21.4 37.3 21.6 37.8 22.3 38C22.3 38 22.3 38 22.4 38C23 38 23.7 38 24.2 38C24.7 38 25.2 37.6 25.2 37.1C25.2 37.1 25.2 37.1 25.2 36.9C25 36.3 25 35.2 25 34.5z M37.6 31.2C35.8 32.9 34.3 34.5 32.5 36.3C31 37.8 31 37.8 28.5 37.8C27.5 37.8 27.3 37.6 27.3 36.6V28.4C27.3 27.4 27.1 27.2 26.1 27.2H14.3C13.2 27.2 13 27.4 13 28.4V36.4C13 37.6 12.9 37.8 11.7 37.8H3.8C2.6 37.8 2.4 37.6 2.4 36.4V19.9C2.4 14.3 2.4 8.9 2.4 3.2C2.4 2 2.6 1.8 3.7 1.8H36.9C37.9 1.8 38.1 2.2 38.1 3.2V29.6C38.3 30.5 37.9 30.9 37.6 31.2zM33.7 6.7H7.1V23H33.7V6.7z" />
<glyph glyph-name="blocks"
unicode="&#xF118;"
horiz-adv-x="40" d=" M10.9 23H39V16.9H10.9V23z M39.2 27.1L39.2 33L0.9 33L0.9 31.1L0.9 27.1L0.9 12.9L0.9 7L39.2 7L39.2 12.9L6.9 12.9L6.9 27.1z" />
</font>
</defs>
</svg>

After

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/// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
import UF2 = pxtc.UF2;
export let ev3: pxt.editor.Ev3Wrapper
export function debug() {
return initAsync()
.then(w => w.downloadFileAsync("/tmp/dmesg.txt", v => console.log(pxt.Util.uint8ArrayToString(v))))
}
function hf2Async() {
return pxt.HF2.mkPacketIOAsync()
.then(h => {
let w = new pxt.editor.Ev3Wrapper(h)
ev3 = w
return w.reconnectAsync(true)
.then(() => w)
})
}
let noHID = false
let initPromise: Promise<pxt.editor.Ev3Wrapper>
export function initAsync() {
if (initPromise)
return initPromise
let canHID = false
if (pxt.U.isNodeJS) {
canHID = true
} else {
const forceHexDownload = /forceHexDownload/i.test(window.location.href);
if (pxt.Cloud.isLocalHost() && pxt.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"))
}
return initPromise
}
// this comes from aux/pxt.lms
const rbfTemplate = `
4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
`
export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
let w: pxt.editor.Ev3Wrapper
let filename = resp.downloadFileBaseName || "pxt"
filename = filename.replace(/^lego-/, "")
let fspath = "../prjs/BrkProg_SAVE/"
let elfPath = fspath + filename + ".elf"
let rbfPath = fspath + filename + ".rbf"
let rbfHex = rbfTemplate
.replace(/\s+/g, "")
.replace("XX", pxt.U.toHex(pxt.U.stringToUint8Array(elfPath)))
let rbfBIN = pxt.U.fromHex(rbfHex)
pxt.HF2.write16(rbfBIN, 4, rbfBIN.length)
let origElfUF2 = UF2.parseFile(pxt.U.stringToUint8Array(atob(resp.outfiles[pxt.outputName()])))
let mkFile = (ext: string, data: Uint8Array = null) => {
let f = UF2.newBlockFile()
f.filename = "Projects/" + filename + ext
if (data)
UF2.writeBytes(f, 0, data)
return f
}
let elfUF2 = mkFile(".elf")
for (let b of origElfUF2) {
UF2.writeBytes(elfUF2, b.targetAddr, b.data)
}
let r = UF2.concatFiles([elfUF2, mkFile(".rbf", rbfBIN)])
let data = UF2.serializeFile(r)
resp.outfiles[pxtc.BINARY_UF2] = btoa(data)
let saveUF2Async = () => {
if (isCli || !pxt.commands.saveOnlyAsync) {
return Promise.resolve()
} else {
return pxt.commands.saveOnlyAsync(resp)
}
}
if (noHID) return saveUF2Async()
return initAsync()
.then(w_ => {
w = w_
if (w.isStreaming)
pxt.U.userError("please stop the program first")
return w.stopAsync()
})
.then(() => w.rmAsync(elfPath))
.then(() => w.flashAsync(elfPath, UF2.readBytes(origElfUF2, 0, origElfUF2.length * 256)))
.then(() => w.flashAsync(rbfPath, rbfBIN))
.then(() => w.runAsync(rbfPath))
.then(() => {
if (isCli)
return w.disconnectAsync()
else
return Promise.resolve()
//return Promise.delay(1000).then(() => w.dmesgAsync())
}).catch(e => {
// if we failed to initalize, retry
if (noHID)
return saveUF2Async()
else
return Promise.reject(e)
})
}

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@ -1,152 +1,120 @@
/// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts" />
/// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
import { deployCoreAsync, initAsync } from "./deploy";
import { FieldPorts } from "./field_ports";
import { FieldImages } from "./field_images";
pxt.editor.initExtensionsAsync = function(opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
pxt.debug('loading pxt-ev3 target extensions...')
updateBlocklyShape();
const res: pxt.editor.ExtensionResult = {
fieldEditors: [{
selector: "ports",
editor: FieldPorts
}, {
selector: "images",
editor: FieldImages
}],
deployCoreAsync
};
initAsync().catch(e => {
// probably no HID - we'll try this again upon deployment
})
return Promise.resolve<pxt.editor.ExtensionResult>(res);
}
/**
* Update the shape of Blockly blocks with square corners
*/
function updateBlocklyShape() {
/**
* Rounded corner radius.
* @const
*/
(Blockly.BlockSvg as any).CORNER_RADIUS = 0 * (Blockly.BlockSvg as any).GRID_UNIT;
/**
* Inner space between edge of statement input and notch.
* @const
*/
(Blockly.BlockSvg as any).STATEMENT_INPUT_INNER_SPACE = 3 * (Blockly.BlockSvg as any).GRID_UNIT;
/**
* SVG path for drawing next/previous notch from left to right.
* @const
*/
(Blockly.BlockSvg as any).NOTCH_PATH_LEFT = (
'l 8,8 ' +
'h 16 ' +
'l 8,-8 '
);
/**
* SVG path for drawing next/previous notch from right to left.
* @const
*/
(Blockly.BlockSvg as any).NOTCH_PATH_RIGHT = (
'l -8,8 ' +
'h -16 ' +
'l -8,-8 '
);
/**
* SVG start point for drawing the top-left corner.
* @const
*/
(Blockly.BlockSvg as any).TOP_LEFT_CORNER_START =
'm 0,' + 0;
/**
* SVG path for drawing the rounded top-left corner.
* @const
*/
(Blockly.BlockSvg as any).TOP_LEFT_CORNER =
'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0 ';
/**
* SVG path for drawing the rounded top-right corner.
* @const
*/
(Blockly.BlockSvg as any).TOP_RIGHT_CORNER =
'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS;
/**
* SVG path for drawing the rounded bottom-right corner.
* @const
*/
(Blockly.BlockSvg as any).BOTTOM_RIGHT_CORNER =
'l 0,' + (Blockly.BlockSvg as any).CORNER_RADIUS;
/**
* SVG path for drawing the rounded bottom-left corner.
* @const
*/
(Blockly.BlockSvg as any).BOTTOM_LEFT_CORNER =
'l -' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0';
/**
* SVG path for drawing the top-left corner of a statement input.
* @const
*/
(Blockly.BlockSvg as any).INNER_TOP_LEFT_CORNER =
'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',-' + 0;
/**
* SVG path for drawing the bottom-left corner of a statement input.
* Includes the rounded inside corner.
* @const
*/
(Blockly.BlockSvg as any).INNER_BOTTOM_LEFT_CORNER =
'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS * 2 +
'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',' + 0;
}
// When require()d from node, bind the global pxt namespace
namespace pxt {
export const dummyExport = 1;
}
eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")
namespace pxt.editor {
import UF2 = pxtc.UF2;
export let ev3: Ev3Wrapper
export function debug() {
return initAsync()
.then(w => w.downloadFileAsync("/tmp/dmesg.txt", v => console.log(pxt.Util.uint8ArrayToString(v))))
}
// this comes from aux/pxt.lms
const rbfTemplate = `
4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
`
function hf2Async() {
return pxt.HF2.mkPacketIOAsync()
.then(h => {
let w = new Ev3Wrapper(h)
ev3 = w
return w.reconnectAsync(true)
.then(() => w)
})
}
let noHID = false
let initPromise: Promise<Ev3Wrapper>
function initAsync() {
if (initPromise)
return initPromise
let canHID = false
if (U.isNodeJS) {
canHID = true
} else {
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"))
}
return initPromise
}
export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
let w: Ev3Wrapper
let filename = resp.downloadFileBaseName || "pxt"
filename = filename.replace(/^lego-/, "")
let fspath = "../prjs/BrkProg_SAVE/"
let elfPath = fspath + filename + ".elf"
let rbfPath = fspath + filename + ".rbf"
let rbfHex = rbfTemplate
.replace(/\s+/g, "")
.replace("XX", U.toHex(U.stringToUint8Array(elfPath)))
let rbfBIN = U.fromHex(rbfHex)
HF2.write16(rbfBIN, 4, rbfBIN.length)
let origElfUF2 = UF2.parseFile(U.stringToUint8Array(atob(resp.outfiles[pxt.outputName()])))
let mkFile = (ext: string, data: Uint8Array = null) => {
let f = UF2.newBlockFile()
f.filename = "Projects/" + filename + ext
if (data)
UF2.writeBytes(f, 0, data)
return f
}
let elfUF2 = mkFile(".elf")
for (let b of origElfUF2) {
UF2.writeBytes(elfUF2, b.targetAddr, b.data)
}
let r = UF2.concatFiles([elfUF2, mkFile(".rbf", rbfBIN)])
let data = UF2.serializeFile(r)
resp.outfiles[pxtc.BINARY_UF2] = btoa(data)
let saveUF2Async = () => {
if (isCli || !pxt.commands.saveOnlyAsync) {
return Promise.resolve()
} else {
return pxt.commands.saveOnlyAsync(resp)
}
}
if (noHID) return saveUF2Async()
return initAsync()
.then(w_ => {
w = w_
if (w.isStreaming)
U.userError("please stop the program first")
return w.stopAsync()
})
.then(() => w.rmAsync(elfPath))
.then(() => w.flashAsync(elfPath, UF2.readBytes(origElfUF2, 0, origElfUF2.length * 256)))
.then(() => w.flashAsync(rbfPath, rbfBIN))
.then(() => w.runAsync(rbfPath))
.then(() => {
if (isCli)
return w.disconnectAsync()
else
return Promise.resolve()
//return Promise.delay(1000).then(() => w.dmesgAsync())
}).catch(e => {
// if we failed to initalize, retry
if (noHID)
return saveUF2Async()
else
return Promise.reject(e)
})
}
initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
pxt.debug('loading pxt-ev3 target extensions...')
const res: pxt.editor.ExtensionResult = {
deployCoreAsync,
};
initAsync().catch(e => {
// probably no HID - we'll try this again upon deployment
})
return Promise.resolve<pxt.editor.ExtensionResult>(res);
}
}
// namespace pxt {
// export const dummyExport = 1;
// }
// eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")

114
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/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
/// <reference path="../node_modules/pxt-core/built/pxtblocks.d.ts"/>
/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
export interface FieldImagesOptions extends pxtblockly.FieldImageDropdownOptions {
}
export class FieldImages extends pxtblockly.FieldImageDropdown implements Blockly.FieldCustom {
public isFieldCustom_ = true;
constructor(text: string, options: FieldImagesOptions, validator?: Function) {
super(text, options, validator);
}
/**
* Create a dropdown menu under the text.
* @private
*/
public showEditor_() {
// If there is an existing drop-down we own, this is a request to hide the drop-down.
if (Blockly.DropDownDiv.hideIfOwner(this)) {
return;
}
// If there is an existing drop-down someone else owns, hide it immediately and clear it.
Blockly.DropDownDiv.hideWithoutAnimation();
Blockly.DropDownDiv.clearContent();
// Populate the drop-down with the icons for this field.
let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
let contentDiv = document.createElement('div');
// Accessibility properties
contentDiv.setAttribute('role', 'menu');
contentDiv.setAttribute('aria-haspopup', 'true');
const options = this.getOptions();
for (let i = 0, option: any; option = options[i]; i++) {
let content = (options[i] as any)[0]; // Human-readable text or image.
const value = (options[i] as any)[1]; // Language-neutral value.
// Icons with the type property placeholder take up space but don't have any functionality
// Use for special-case layouts
if (content.type == 'placeholder') {
let placeholder = document.createElement('span');
placeholder.setAttribute('class', 'blocklyDropDownPlaceholder');
placeholder.style.width = content.width + 'px';
placeholder.style.height = content.height + 'px';
contentDiv.appendChild(placeholder);
continue;
}
let button = document.createElement('button');
button.setAttribute('id', ':' + i); // For aria-activedescendant
button.setAttribute('role', 'menuitem');
button.setAttribute('class', 'blocklyDropDownButton');
button.title = content.alt;
if ((this as any).columns_) {
button.style.width = (((this as any).width_ / (this as any).columns_) - 8) + 'px';
//button.style.height = ((this.width_ / this.columns_) - 8) + 'px';
} else {
button.style.width = content.width + 'px';
button.style.height = content.height + 'px';
}
let backgroundColor = this.sourceBlock_.getColour();
if (value == this.getValue()) {
// This icon is selected, show it in a different colour
backgroundColor = this.sourceBlock_.getColourTertiary();
button.setAttribute('aria-selected', 'true');
}
button.style.backgroundColor = backgroundColor;
button.style.borderColor = this.sourceBlock_.getColourTertiary();
Blockly.bindEvent_(button, 'click', this, (this as any).buttonClick_);
Blockly.bindEvent_(button, 'mouseup', this, (this as any).buttonClick_);
// These are applied manually instead of using the :hover pseudoclass
// because Android has a bad long press "helper" menu and green highlight
// that we must prevent with ontouchstart preventDefault
Blockly.bindEvent_(button, 'mousedown', button, function (e) {
this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
e.preventDefault();
});
Blockly.bindEvent_(button, 'mouseover', button, function () {
this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
contentDiv.setAttribute('aria-activedescendant', this.id);
});
Blockly.bindEvent_(button, 'mouseout', button, function () {
this.setAttribute('class', 'blocklyDropDownButton');
contentDiv.removeAttribute('aria-activedescendant');
});
let buttonImg = document.createElement('img');
buttonImg.src = content.src;
//buttonImg.alt = icon.alt;
// Upon click/touch, we will be able to get the clicked element as e.target
// Store a data attribute on all possible click targets so we can match it to the icon.
button.setAttribute('data-value', value);
buttonImg.setAttribute('data-value', value);
button.appendChild(buttonImg);
contentDiv.appendChild(button);
}
contentDiv.style.width = (this as any).width_ + 'px';
dropdownDiv.appendChild(contentDiv);
Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
// Calculate positioning based on the field position.
var scale = this.sourceBlock_.workspace.scale;
var bBox = { width: this.size_.width, height: this.size_.height };
bBox.width *= scale;
bBox.height *= scale;
var position = this.fieldGroup_.getBoundingClientRect();
var primaryX = position.left + bBox.width / 2;
var primaryY = position.top + bBox.height;
var secondaryX = primaryX;
var secondaryY = position.top;
// Set bounds to workspace; show the drop-down.
(Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
(Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
(this as any).onHide_.bind(this));
}
}

147
editor/field_ports.ts Normal file
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/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
export interface FieldPortsOptions extends Blockly.FieldCustomDropdownOptions {
columns?: string;
width?: string;
}
export class FieldPorts extends Blockly.FieldDropdown implements Blockly.FieldCustom {
public isFieldCustom_ = true;
// Width in pixels
private width_: number;
// Columns in grid
private columns_: number;
private savedPrimary_: string;
constructor(text: string, options: FieldPortsOptions, validator?: Function) {
super(options.data);
this.columns_ = parseInt(options.columns) || 4;
this.width_ = parseInt(options.width) || 300;
}
/**
* Create a dropdown menu under the text.
* @private
*/
public showEditor_() {
// If there is an existing drop-down we own, this is a request to hide the drop-down.
if (Blockly.DropDownDiv.hideIfOwner(this)) {
return;
}
// If there is an existing drop-down someone else owns, hide it immediately and clear it.
Blockly.DropDownDiv.hideWithoutAnimation();
Blockly.DropDownDiv.clearContent();
// Populate the drop-down with the icons for this field.
let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
let contentDiv = document.createElement('div');
// Accessibility properties
contentDiv.setAttribute('role', 'menu');
contentDiv.setAttribute('aria-haspopup', 'true');
const options = this.getOptions();
for (let i = 0, option: any; option = options[i]; i++) {
let content = (options[i] as any)[0]; // Human-readable text or image.
const value = (options[i] as any)[1]; // Language-neutral value.
// Icons with the type property placeholder take up space but don't have any functionality
// Use for special-case layouts
if (content.type == 'placeholder') {
let placeholder = document.createElement('span');
placeholder.setAttribute('class', 'blocklyDropDownPlaceholder');
placeholder.style.width = content.width + 'px';
placeholder.style.height = content.height + 'px';
contentDiv.appendChild(placeholder);
continue;
}
let button = document.createElement('button');
button.setAttribute('id', ':' + i); // For aria-activedescendant
button.setAttribute('role', 'menuitem');
button.setAttribute('class', 'blocklyDropDownButton');
button.title = content.alt;
if (this.columns_) {
button.style.width = ((this.width_ / this.columns_) - 8) + 'px';
button.style.height = ((this.width_ / this.columns_) - 8) + 'px';
} else {
button.style.width = content.width + 'px';
button.style.height = content.height + 'px';
}
let backgroundColor = this.sourceBlock_.getColour();
if (value == this.getValue()) {
// This icon is selected, show it in a different colour
backgroundColor = this.sourceBlock_.getColourTertiary();
button.setAttribute('aria-selected', 'true');
}
button.style.backgroundColor = backgroundColor;
button.style.borderColor = this.sourceBlock_.getColourTertiary();
Blockly.bindEvent_(button, 'click', this, this.buttonClick_);
Blockly.bindEvent_(button, 'mouseup', this, this.buttonClick_);
// These are applied manually instead of using the :hover pseudoclass
// because Android has a bad long press "helper" menu and green highlight
// that we must prevent with ontouchstart preventDefault
Blockly.bindEvent_(button, 'mousedown', button, function (e) {
this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
e.preventDefault();
});
Blockly.bindEvent_(button, 'mouseover', button, function () {
this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
contentDiv.setAttribute('aria-activedescendant', this.id);
});
Blockly.bindEvent_(button, 'mouseout', button, function () {
this.setAttribute('class', 'blocklyDropDownButton');
contentDiv.removeAttribute('aria-activedescendant');
});
let buttonImg = document.createElement('img');
buttonImg.src = content.src;
//buttonImg.alt = icon.alt;
// Upon click/touch, we will be able to get the clicked element as e.target
// Store a data attribute on all possible click targets so we can match it to the icon.
button.setAttribute('data-value', value);
buttonImg.setAttribute('data-value', value);
button.appendChild(buttonImg);
contentDiv.appendChild(button);
}
contentDiv.style.width = this.width_ + 'px';
dropdownDiv.appendChild(contentDiv);
Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
// Calculate positioning based on the field position.
var scale = this.sourceBlock_.workspace.scale;
var bBox = { width: this.size_.width, height: this.size_.height };
bBox.width *= scale;
bBox.height *= scale;
var position = this.fieldGroup_.getBoundingClientRect();
var primaryX = position.left + bBox.width / 2;
var primaryY = position.top + bBox.height;
var secondaryX = primaryX;
var secondaryY = position.top;
// Set bounds to workspace; show the drop-down.
(Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
(Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
this.onHide_.bind(this));
}
/**
* Callback for when a button is clicked inside the drop-down.
* Should be bound to the FieldIconMenu.
* @param {Event} e DOM event for the click/touch
* @private
*/
private buttonClick_ = function (e: any) {
let value = e.target.getAttribute('data-value');
this.setValue(value);
Blockly.DropDownDiv.hide();
};
/**
* Callback for when the drop-down is hidden.
*/
private onHide_ = function () {
Blockly.DropDownDiv.content_.removeAttribute('role');
Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
};
}

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@ -1,12 +1,14 @@
{
"compilerOptions": {
"target": "es5",
"noImplicitAny": true,
"noImplicitAny": false,
"noImplicitReturns": true,
"declaration": true,
"out": "../built/editor.js",
"module": "commonjs",
"outDir": "../built/editor",
"rootDir": ".",
"newLine": "LF",
"sourceMap": false
"sourceMap": false,
"allowSyntheticDefaultImports": true,
"declaration": true
}
}

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@ -0,0 +1,14 @@
{
"behaviors": "Behavior drive blocks",
"behaviors.Behavior": "A behavior",
"behaviors.BehaviorManager": "A manager for behaviors",
"behaviors.BehaviorManager.add": "Adds a new behavior to the behavior manager",
"behaviors.BehaviorManager.add|param|behavior": "the behavior to add",
"behaviors.BehaviorManager.start": "Starts the behavior control loop",
"behaviors.BehaviorManager.stop": "Stops the execution loop",
"behaviors.addBehavior": "Adds the behavior and starts it",
"behaviors.addBehavior|param|behavior": "a behavior",
"behaviors.avoidCrash": "A behavior that stops all motors if the sensor distance get too short",
"behaviors.driveForward": "A behavior that turns on the motors to the specified speed",
"behaviors.driveForward|param|motors": "@param speed the desired speed, eg: 50"
}

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@ -0,0 +1,7 @@
{
"behaviors.addBehavior|block": "add behavior %behavior",
"behaviors.avoidCrash|block": "avoid crash using %ultrasonic",
"behaviors.driveForward|block": "drive %motors|forward at %speed|%",
"behaviors|block": "behaviors",
"{id:category}Behaviors": "Behaviors"
}

6
libs/behaviors/pxt.json Normal file
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@ -0,0 +1,6 @@
{
"additionalFilePath": "../../node_modules/pxt-common-packages/libs/behaviors",
"dependencies": {
"core": "file:../ev3"
}
}

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@ -0,0 +1,56 @@
namespace behaviors {
class AvoidCrashBehavior extends behaviors.Behavior {
private ultrasonic: sensors.UltraSonicSensor;
constructor(ultrasonic: sensors.UltraSonicSensor) {
super();
this.ultrasonic = ultrasonic;
}
shouldRun(): boolean {
return this.ultrasonic.distance() < 5;
}
run(): void {
motors.stopAllMotors();
this.active = false;
}
}
/**
* A behavior that stops all motors if the sensor distance get too short
*/
//% blockId=behaviorsAvoidCrash block="avoid crash using %ultrasonic"
export function avoidCrash(ultrasonic: sensors.UltraSonicSensor) : behaviors.Behavior {
return new AvoidCrashBehavior(ultrasonic);
}
class DriveForwardBehavior extends behaviors.Behavior {
private motors: motors.MotorBase;
private speed: number;
constructor(motors: motors.MotorBase, speed: number) {
super();
this.motors = motors;
this.speed = speed;
}
shouldRun(): boolean {
return true;
}
run(): void {
this.motors.setSpeed(this.speed);
pauseUntil(() => !this.active);
this.motors.setSpeed(0);
}
}
/**
* A behavior that turns on the motors to the specified speed
* @param motors
* @param speed the desired speed, eg: 50
*/
//% blockId=behaviorsDriveForward block="drive %motors|forward at %speed|%"
export function driveForward(motors: motors.MotorBase, speed: number): behaviors.Behavior {
return new DriveForwardBehavior(motors, speed);
}
}

View File

@ -8,5 +8,8 @@
"sensors.ColorSensor.onColorDetected|param|handler": "the code to run when detected",
"sensors.ColorSensor.onLightChanged": "Registers code to run when the ambient light changes.",
"sensors.ColorSensor.onLightChanged|param|condition": "the light condition",
"sensors.ColorSensor.onLightChanged|param|handler": "the code to run when detected"
"sensors.ColorSensor.onLightChanged|param|handler": "the code to run when detected",
"sensors.ColorSensor.pauseForColor": "Waits for the given color to be detected",
"sensors.ColorSensor.pauseForColor|param|color": "the color to detect",
"sensors.ColorSensor.pauseForLight": "Waits for the given color to be detected"
}

View File

@ -13,14 +13,16 @@
"LightCondition.Dark|block": "dark",
"LightIntensityMode.Ambient|block": "ambient light",
"LightIntensityMode.Reflected|block": "reflected light",
"sensors.ColorSensor.color|block": "`icons.colorSensor` %sensor| color",
"sensors.ColorSensor.light|block": "`icons.colorSensor` %sensor|%mode",
"sensors.ColorSensor.onColorDetected|block": "on `icons.colorSensor` %sensor|detected color %color",
"sensors.ColorSensor.onLightChanged|block": "on `icons.colorSensor` %sensor|%mode|%condition",
"sensors.color1|block": "1",
"sensors.color2|block": "2",
"sensors.color3|block": "3",
"sensors.color4|block": "4",
"sensors.ColorSensor.color|block": "%sensor| color",
"sensors.ColorSensor.light|block": "%sensor|%mode",
"sensors.ColorSensor.onColorDetected|block": "on %sensor|detected color %color",
"sensors.ColorSensor.onLightChanged|block": "on %sensor|%mode|%condition",
"sensors.ColorSensor.pauseForColor|block": "pause %sensor|for color %color",
"sensors.ColorSensor.pauseForLight|block": "pause %sensor|for %mode|light %condition",
"sensors.color1|block": "color 1",
"sensors.color2|block": "color 2",
"sensors.color3|block": "color 3",
"sensors.color4|block": "color 4",
"sensors|block": "sensors",
"{id:category}Sensors": "Sensors",
"{id:group}Color Sensor": "Color Sensor"

View File

@ -56,6 +56,7 @@ namespace sensors {
constructor(port: number) {
super(port)
this._setMode(ColorSensorMode.None);
this.thresholdDetector = new sensors.internal.ThresholdDetector(this.id());
}
@ -68,18 +69,27 @@ namespace sensors {
}
setMode(m: ColorSensorMode) {
if (m == ColorSensorMode.AmbientLightIntensity) {
this.thresholdDetector.setLowThreshold(5);
this.thresholdDetector.setHighThreshold(20);
} else {
this.thresholdDetector.setLowThreshold(20);
this.thresholdDetector.setHighThreshold(80);
}
this._setMode(m)
}
/**
* Gets the current color mode
*/
colorMode() {
colorMode() {
return <ColorSensorMode>this.mode;
}
_query() {
if (this.mode == ColorSensorMode.Color)
if (this.mode == ColorSensorMode.Color
|| this.mode == ColorSensorMode.AmbientLightIntensity
|| this.mode == ColorSensorMode.ReflectedLightIntensity)
return this.getNumber(NumberFormat.UInt8LE, 0)
return 0
}
@ -97,33 +107,51 @@ namespace sensors {
* @param handler the code to run when detected
*/
//% help=sensors/color-sensor/on-color-detected
//% block="on `icons.colorSensor` %sensor|detected color %color"
//% block="on %sensor|detected color %color"
//% blockId=colorOnColorDetected
//% parts="colorsensor"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=100 blockGap=8
//% group="Color Sensor"
onColorDetected(color: ColorSensorColor, handler: () => void) {
this.setMode(ColorSensorMode.Color)
const v = this._colorEventValue(<number>color);
control.onEvent(this._id, v, handler);
this.setMode(ColorSensorMode.Color)
if (this.color() == color)
control.raiseEvent(this._id, v);
}
/**
* Waits for the given color to be detected
* @param color the color to detect
*/
//% help=sensors/color-sensor/pause-for-color
//% block="pause %sensor|for color %color"
//% blockId=colorPauseForColorDetected
//% parts="colorsensor"
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=99 blockGap=8
//% group="Color Sensor"
pauseForColor(color: ColorSensorColor) {
this.setMode(ColorSensorMode.Color);
if (this.color() != color) {
const v = this._colorEventValue(<number>color);
control.waitForEvent(this._id, v);
}
}
/**
* Get the current color from the color sensor.
* @param sensor the color sensor to query the request
*/
//% help=sensors/color-sensor/color
//% block="`icons.colorSensor` %sensor| color"
//% block="%sensor| color"
//% blockId=colorGetColor
//% parts="colorsensor"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=99
//% group="Color Sensor"
color(): ColorSensorColor {
@ -137,17 +165,34 @@ namespace sensors {
* @param handler the code to run when detected
*/
//% help=sensors/color-sensor/on-light-changed
//% block="on `icons.colorSensor` %sensor|%mode|%condition"
//% block="on %sensor|%mode|%condition"
//% blockId=colorOnLightChanged
//% parts="colorsensor"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=89 blockGap=8
//% group="Color Sensor"
onLightChanged(mode: LightIntensityMode, condition: LightCondition, handler: () => void) {
control.onEvent(this._id, <number>condition, handler);
this.setMode(<ColorSensorMode><number>mode)
control.onEvent(this._id, <number>condition, handler);
}
/**
* Waits for the given color to be detected
* @param color the color to detect
*/
//% help=sensors/color-sensor/pause-for-light
//% block="pause %sensor|for %mode|light %condition"
//% blockId=colorPauseForLight
//% parts="colorsensor"
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=88 blockGap=8
//% group="Color Sensor"
pauseForLight(mode: LightIntensityMode, condition: LightCondition) {
this.setMode(<ColorSensorMode><number>mode)
if (this.thresholdDetector.state != <number>condition)
control.waitForEvent(this._id, <number>condition)
}
/**
@ -155,13 +200,12 @@ namespace sensors {
* @param sensor the color sensor port
*/
//% help=sensors/color-sensor/light
//% block="`icons.colorSensor` %sensor|%mode"
//% block="%sensor|%mode"
//% blockId=colorLight
//% parts="colorsensor"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% weight=88
//% sensor.fieldEditor="ports"
//% weight=87
//% group="Color Sensor"
light(mode: LightIntensityMode) {
this.setMode(<ColorSensorMode><number>mode)
@ -179,15 +223,15 @@ namespace sensors {
}
}
//% whenUsed block="1" weight=95 fixedInstance jres=icons.port1
//% whenUsed block="color 1" weight=95 fixedInstance jres=icons.port1
export const color1: ColorSensor = new ColorSensor(1)
//% whenUsed block="3" weight=90 fixedInstance jres=icons.port3
export const color3: ColorSensor = new ColorSensor(3)
//% whenUsed block="2" weight=90 fixedInstance jres=icons.port2
//% whenUsed block="color 2" weight=90 fixedInstance jres=icons.port2
export const color2: ColorSensor = new ColorSensor(2)
//% whenUsed block="4" weight=90 fixedInstance jres=icons.port4
//% whenUsed block="color 3" weight=90 fixedInstance jres=icons.port3
export const color3: ColorSensor = new ColorSensor(3)
//% whenUsed block="color 4" weight=90 fixedInstance jres=icons.port4
export const color4: ColorSensor = new ColorSensor(4)
}

View File

@ -18,30 +18,32 @@
"brick.Button.isPressed": "Check if button is currently pressed or not.",
"brick.Button.onEvent": "Do something when a button or sensor is clicked, up or down.",
"brick.Button.onEvent|param|body": "code to run when the event is raised",
"brick.Button.waitUntil": "Waits until the event is raised",
"brick.Button.waitUntil|param|ev": "the event to wait for",
"brick.Button.pauseUntil": "Waits until the event is raised",
"brick.Button.pauseUntil|param|ev": "the event to wait for",
"brick.Button.wasPressed": "See if the button was pressed again since the last time you checked.",
"brick._imagePicker": "An image",
"brick._imagePicker|param|image": "the image",
"brick.buttonDown": "Down button on the EV3 Brick.",
"brick.buttonEnter": "Enter button on the EV3 Brick.",
"brick.buttonLeft": "Left button on the EV3 Brick.",
"brick.buttonRight": "Right button on the EV3 Brick.",
"brick.buttonUp": "Up button on the EV3 Brick.",
"brick.clearScreen": "Clears the screen",
"brick.lightPattern": "Pattern block.",
"brick.lightPattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
"brick.print": "Show text on the screen.",
"brick.print|param|text": "the text to print on the screen, eg: \"Hello world\"",
"brick.print|param|x": "the starting position's x coordinate, eg: 0",
"brick.print|param|y": "the starting position's x coordinate, eg: 0",
"brick.setPixel": "Sets a pixel on or off",
"brick.setPixel|param|on": "a value indicating if the pixel should be on or off",
"brick.setPixel|param|x": "the starting position's x coordinate, eg: 0",
"brick.setPixel|param|y": "the starting position's x coordinate, eg: 0",
"brick.setStatusLight": "Set lights.",
"brick.setStatusLight|param|pattern": "the lights pattern to use.",
"brick.printLine": "Show text on the screen at a specific line.",
"brick.printLine|param|line": "the line number to print the text at, eg: 0",
"brick.printLine|param|text": "the text to print on the screen, eg: \"Hello world\"",
"brick.printPorts": "Prints the port states on the screen",
"brick.setLight": "Set lights.",
"brick.setLight|param|pattern": "the lights pattern to use.",
"brick.showImage": "Shows an image on screen",
"brick.showImage|param|image": "image to draw",
"console": "Reading and writing data to the console output.\n\nReading and writing data to the console output.",
"console.addListener": "Adds a listener for the log messages",
"console.log": "Write a line of text to the console output.",
"console.logValue": "Write a name:value pair as a line of text to the console output.",
"console.logValue|param|name": "name of the value stream, eg: \"x\"",
"console.logValue|param|value": "to write",
"console.sendToScreen": "Sends the log messages to the brick screen and uses the brick up and down buttons to scroll.",
"control": "Program controls and events.",
"control.allocateNotifyEvent": "Allocates the next user notification event",
"control.deviceFirmwareVersion": "Determine the version of system software currently running.",
@ -50,21 +52,51 @@
"control.raiseEvent": "Announce that an event happened to registered handlers.",
"control.raiseEvent|param|src": "ID of the Component that generated the event",
"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.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.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.setReversed": "Reverses the motor polarity",
"motors.Motor.setSpeed": "Sets the motor speed level from ``-100`` to ``100``.",
"motors.Motor.setSpeed|param|speed": "the power from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.Motor.angle": "Gets motor angle.",
"motors.Motor.clearCounts": "Clears the motor count",
"motors.Motor.speed": "Gets motor actual speed.",
"motors.Motor.stop": "Stops the motor",
"motors.Motor.tachoCount": "Gets motor tacho count.",
"motors.Motor.tacho": "Gets motor tachometer count.",
"motors.Motor.toString": "Returns the status of the motor",
"motors.MotorBase.isReady": "Returns a value indicating if the motor is still running a previous command.",
"motors.MotorBase.move": "Moves the motor by a number of rotations, degress or seconds",
"motors.MotorBase.move|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.MotorBase.move|param|unit": "the meaning of the value",
"motors.MotorBase.move|param|value": "the move quantity, eg: 2",
"motors.MotorBase.pauseUntilReady": "Pauses the execution until the previous command finished.",
"motors.MotorBase.pauseUntilReady|param|timeOut": "optional maximum pausing time in milliseconds",
"motors.MotorBase.reset": "Resets the motor(s).",
"motors.MotorBase.setBrake": "Sets the automatic brake on or off when the motor is off",
"motors.MotorBase.setBrake|param|brake": "a value indicating if the motor should break when off",
"motors.MotorBase.setReversed": "Reverses the motor polarity",
"motors.MotorBase.setSpeed": "Sets the speed of the motor.",
"motors.MotorBase.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.MotorBase.stop": "Stops the motor(s).",
"motors.SynchedMotorPair.drive": "Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)\nusing a unicycle model.",
"motors.SynchedMotorPair.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
"motors.SynchedMotorPair.drive|param|speed": "speed of the center point between motors, eg: 10",
"motors.SynchedMotorPair.drive|param|value": "the amount of movement, eg: 2",
"motors.SynchedMotorPair.setDimensions": "Sets the wheels radius and base length of a directional drive robot",
"motors.SynchedMotorPair.setDimensions|param|wheelRadius": "@param baseLength ",
"motors.SynchedMotorPair.steer": "Turns the motor and the follower motor by a number of rotations",
"motors.SynchedMotorPair.steer|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.SynchedMotorPair.steer|param|turnRatio": "the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0",
"motors.SynchedMotorPair.steer|param|unit": "the meaning of the value",
"motors.SynchedMotorPair.steer|param|value": "the move quantity, eg: 2",
"motors.SynchedMotorPair.tank": "The Move Tank block can make a robot drive forward, backward, turn, or stop. \nUse the Move Tank block for robot vehicles that have two Large Motors, \nwith one motor driving the left side of the vehicle and the other the right side. \nYou can make the two motors go at different speeds or in different directions \nto make your robot turn.",
"motors.SynchedMotorPair.tank|param|speedRight": "the speed on the right motor, eg: 50",
"motors.SynchedMotorPair.tank|param|unit": "@param speedLeft the speed on the left motor, eg: 50",
"motors.SynchedMotorPair.tank|param|value": "the amount of movement, eg: 2",
"motors.SynchedMotorPair.toString": "Returns the name(s) of the motor",
"motors.mkCmd": "Allocates a message buffer",
"motors.mkCmd|param|addSize": "required additional bytes",
"motors.mkCmd|param|cmd": "command id",
"motors.mkCmd|param|out": "ports",
"motors.readPWM": "Sends and receives a message from the motors device",
"motors.readPWM|param|buf": "message buffer",
"motors.resetAllMotors": "Resets all motors",
"motors.stopAllMotors": "Stops all motors",
"motors.writePWM": "Sends a command to the motors device",
"motors.writePWM|param|buf": "the command buffer",
"output.createBuffer": "Create a new zero-initialized buffer.",
"output.createBuffer|param|size": "number of bytes in the buffer",
"screen.clear": "Clear screen and reset font to normal.",

View File

@ -12,51 +12,72 @@
"LightsPattern.RedFlash|block": "Flashing Red",
"LightsPattern.RedPulse|block": "Pulsing Red",
"LightsPattern.Red|block": "Red",
"MoveUnit.Degrees|block": "degrees",
"MoveUnit.MilliSeconds|block": "milliseconds",
"MoveUnit.Rotations|block": "rotations",
"Output.AB|block": "A+B",
"Output.AD|block": "A+D",
"Output.ALL|block": "All",
"Output.A|block": "A",
"Output.BC|block": "B+C",
"Output.B|block": "B",
"Output.CD|block": "C+D",
"Output.C|block": "C",
"Output.D|block": "D",
"brick.Button.isPressed|block": "`icons.brickButtons` %button|is pressed",
"brick.Button.onEvent|block": "on `icons.brickButtons` %button|%event",
"brick.Button.waitUntil|block": "wait until `icons.brickButtons` %button|%event",
"brick.Button.wasPressed|block": "`icons.brickButtons` %button|was pressed",
"brick._imagePicker|block": "%image",
"brick.Button.isPressed|block": "%button|is pressed",
"brick.Button.onEvent|block": "on %button|%event",
"brick.Button.pauseUntil|block": "pause until %button|%event",
"brick.Button.wasPressed|block": "%button|was pressed",
"brick.buttonDown|block": "down",
"brick.buttonEnter|block": "enter",
"brick.buttonLeft|block": "left",
"brick.buttonRight|block": "right",
"brick.buttonUp|block": "up",
"brick.clearScreen|block": "clear screen",
"brick.lightPattern|block": "%pattern",
"brick.print|block": "`icons.brickDisplay` print %text| at x: %x| y: %y",
"brick.setPixel|block": "`icons.brickDisplay` set pixel %on| at x: %x| y: %y",
"brick.setStatusLight|block": "set `icons.brickButtons` to %pattern=led_pattern",
"brick.showImage|block": "`icons.brickDisplay` show image %image=scren_image_picker",
"brick.printLine|block": "print %text| at line %line",
"brick.printPorts|block": "print ports",
"brick.setLight|block": "set light to %pattern=led_pattern",
"brick.showImage|block": "show image %image=screen_image_picker",
"brick|block": "brick",
"console.logValue|block": "console|log value %name|= %value",
"console.log|block": "console|log %text",
"console.sendToScreen|block": "send console to screen",
"console|block": "console",
"control.raiseEvent|block": "raise event|from %src|with value %value",
"control|block": "control",
"motors.Motor.count|block": "`icons.motorLarge` %motor|count",
"motors.Motor.move|block": "move `icons.motorLarge` %motor|by %angle|degrees at %power|%",
"motors.Motor.setBrake|block": "set `icons.motorLarge` %motor|brake %brake",
"motors.Motor.setReversed|block": "set `icons.motorLarge` %motor|reversed %reversed",
"motors.Motor.setSpeed|block": "set speed `icons.motorLarge` %motor|to %speed|%",
"motors.Motor.speed|block": "`icons.motorLarge` %motor|speed",
"motors.Motor.stop|block": "stop `icons.motorLarge` %motor",
"motors.Motor.tachoCount|block": "`icons.motorLarge` %motor|tacho count",
"motors.largeMotorA|block": "large A",
"motors.largeMotorB|block": "large B",
"motors.largeMotorC|block": "large C",
"motors.largeMotorD|block": "large D",
"motors.mediumMotorA|block": "medium A",
"motors.mediumMotorB|block": "medium B",
"motors.mediumMotorC|block": "medium C",
"motors.mediumMotorD|block": "medium D",
"motors.stopAllMotors|block": "stop all `icons.motorLarge`",
"motors.Motor.angle|block": "%motor|angle",
"motors.Motor.clearCounts|block": "%motor|clear counts",
"motors.Motor.speed|block": "%motor|speed",
"motors.Motor.tacho|block": "%motor|tacho",
"motors.MotorBase.move|block": "move %motor|for %value|%unit|at %speed|%",
"motors.MotorBase.pauseUntilReady|block": "%motor|pause until ready",
"motors.MotorBase.setBrake|block": "set %motor|brake %brake",
"motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
"motors.MotorBase.setSpeed|block": "set speed of %motor|to %speed|%",
"motors.SynchedMotorPair.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
"motors.SynchedMotorPair.steer|block": "steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit",
"motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit",
"motors.largeAB|block": "large A+B",
"motors.largeAD|block": "large A+D",
"motors.largeA|block": "large A",
"motors.largeBC|block": "large B+C",
"motors.largeB|block": "large B",
"motors.largeCD|block": "large C+D",
"motors.largeC|block": "large C",
"motors.largeD|block": "large D",
"motors.mediumA|block": "medium A",
"motors.mediumB|block": "medium B",
"motors.mediumC|block": "medium C",
"motors.mediumD|block": "medium D",
"motors.stopAllMotors|block": "stop all motors",
"motors|block": "motors",
"output|block": "output",
"screen|block": "screen",
"sensors|block": "sensors",
"serial|block": "serial",
"{id:category}Brick": "Brick",
"{id:category}Console": "Console",
"{id:category}Control": "Control",
"{id:category}Image": "Image",
"{id:category}Images": "Images",
@ -66,7 +87,9 @@
"{id:category}Screen": "Screen",
"{id:category}Serial": "Serial",
"{id:group}Buttons": "Buttons",
"{id:group}Chassis": "Chassis",
"{id:group}Light": "Light",
"{id:group}Motors": "Motors",
"{id:group}Screen": "Screen"
"{id:group}Motion": "Motion",
"{id:group}Screen": "Screen",
"{id:group}Sensors": "Sensors"
}

View File

@ -66,6 +66,7 @@ namespace brick {
//% hidden
_update(curr: boolean) {
if (this == null) return
if (this._isPressed == curr) return
this._isPressed = curr
if (curr) {
@ -85,7 +86,7 @@ namespace brick {
* @param button the button to query the request
*/
//% help=input/button/is-pressed
//% block="`icons.brickButtons` %button|is pressed"
//% block="%button|is pressed"
//% blockId=buttonIsPressed
//% parts="brick"
//% blockNamespace=brick
@ -100,11 +101,11 @@ namespace brick {
* @param button the button to query the request
*/
//% help=input/button/was-pressed
//% block="`icons.brickButtons` %button|was pressed"
//% block="%button|was pressed"
//% blockId=buttonWasPressed
//% parts="brick"
//% blockNamespace=brick
//% weight=80 blockGap=8
//% weight=80
//% group="Buttons"
wasPressed() {
const r = this._wasPressed
@ -119,7 +120,7 @@ namespace brick {
* @param body code to run when the event is raised
*/
//% help=input/button/on-event
//% blockId=buttonEvent block="on `icons.brickButtons` %button|%event"
//% blockId=buttonEvent block="on %button|%event"
//% parts="brick"
//% blockNamespace=brick
//% weight=99 blockGap=8
@ -132,13 +133,13 @@ namespace brick {
* Waits until the event is raised
* @param ev the event to wait for
*/
//% help=input/button/wait-until
//% blockId=buttonWaitUntil block="wait until `icons.brickButtons` %button|%event"
//% help=input/button/pause-until
//% blockId=buttonWaitUntil block="pause until %button|%event"
//% parts="brick"
//% blockNamespace=brick
//% weight=98 blockGap=8
//% group="Buttons"
waitUntil(ev: ButtonEvent) {
pauseUntil(ev: ButtonEvent) {
control.waitForEvent(this._id, ev);
}
}
@ -248,9 +249,9 @@ namespace brick {
* Set lights.
* @param pattern the lights pattern to use.
*/
//% blockId=setLights block="set `icons.brickButtons` to %pattern=led_pattern"
//% weight=100 group="Light"
export function setStatusLight(pattern: number): void {
//% blockId=setLights block="set light to %pattern=led_pattern"
//% weight=100 group="Buttons"
export function setLight(pattern: number): void {
if (currPattern === pattern)
return
currPattern = pattern

106
libs/core/console.ts Normal file
View File

@ -0,0 +1,106 @@
/// <reference no-default-lib="true"/>
/**
* Reading and writing data to the console output.
*/
//% weight=12 color=#002050 icon="\uf120"
//% advanced=true
namespace console {
type Listener = (text: string) => void;
const listeners: Listener[] = [
(text: string) => serial.writeLine(text)
];
/**
* Write a line of text to the console output.
* @param value to send
*/
//% weight=90
//% help=console/log blockGap=8
//% blockId=console_log block="console|log %text"
export function log(text: string): void {
for (let i = 0; i < listeners.length; ++i)
listeners[i](text);
}
/**
* Write a name:value pair as a line of text to the console output.
* @param name name of the value stream, eg: "x"
* @param value to write
*/
//% weight=88 blockGap=8
//% help=console/log-value
//% blockId=console_log_value block="console|log value %name|= %value"
export function logValue(name: string, value: number): void {
log(`${name}: ${value}`)
}
/**
* Adds a listener for the log messages
* @param listener
*/
//%
export function addListener(listener: (text: string) => void) {
if (!listener) return;
listeners.push(listener);
}
/**
* Sends the log messages to the brick screen and uses the brick up and down buttons to scroll.
*/
//% blockId=logsendtostreen block="send console to screen"
//% weight=1
export function sendToScreen(): void {
console.screen.attach();
}
}
namespace console.screen {
const maxLines = 100;
const screenLines = 8;
let lines: string[];
let scrollPosition = 0;
export function attach() {
if (!lines) {
lines = [];
console.addListener(log);
brick.buttonUp.onEvent(ButtonEvent.Click, () => scroll(-1))
brick.buttonDown.onEvent(ButtonEvent.Click, () => scroll(1))
}
}
function printLog() {
brick.clearScreen()
if (!lines) return;
for (let i = 0; i < screenLines; ++i) {
const line = lines[i + scrollPosition];
if (line)
brick.print(line, 0, 4 + i * brick.LINE_HEIGHT)
}
}
function scroll(pos: number) {
if (!pos) return;
scrollPosition += pos >> 0;
if (scrollPosition >= lines.length) scrollPosition = lines.length - 1;
if (scrollPosition < 0) scrollPosition = 0;
printLog();
}
function log(msg: string): void {
lines.push(msg);
if (lines.length + 5 > maxLines) {
lines.splice(0, maxLines - lines.length);
scrollPosition = Math.min(scrollPosition, lines.length - 1)
}
// move down scroll once it gets large than the screen
if (lines.length > screenLines
&& lines.length >= scrollPosition + screenLines) {
scrollPosition++;
}
printLog();
}
}

View File

@ -1,260 +1,260 @@
namespace images {
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsBigSmile = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsHeartLarge = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsHeartSmall = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsMouth1open = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsMouth1shut = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsMouth2open = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsMouth2shut = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsSad = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsSick = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsSmile = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsSwearing = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsTalking = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsWink = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const expressionsZzz = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesAngry = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesAwake = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesBlackEye = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesBottomLeft = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesBottomRight = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesCrazy1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesCrazy2 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesDisappointed = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesDizzy = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesDown = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesEvil = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesHurt = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesKnockedOut = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesLove = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesMiddleLeft = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesMiddleRight = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesNeutral = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesNuclear = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesPinchLeft = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesPinchMiddle = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesPinchRight = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesSleeping = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesTear = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesTiredLeft = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesTiredMiddle = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesTiredRight = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesToxic = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesUp = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const eyesWinking = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationAccept = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationBackward = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationDecline = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationForward = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationLeft = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationNoGo = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationQuestionMark = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationRight = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationStop1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationStop2 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationThumbsDown = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationThumbsUp = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const informationWarning = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoColorSensor = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoEv3icon = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoEv3 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoGyroSensor = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoIrBeacon = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoIrSensor = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoLego = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoLargeMotor = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoMindstorms = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoMediumMotor = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoSoundSensor = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoTempSensor = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoTouchSensor = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const legoUsSensor = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsBomb = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsBoom = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsFire = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsFlowers = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsForest = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsLightOff = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsLightOn = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsLightning = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsNight = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsPirate = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsSnow = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const objectsTarget = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressBar0 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressBar1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressBar2 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressBar3 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressBar4 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressDial0 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressDial1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressDial2 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressDial3 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressDial4 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressDots0 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressDots1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressDots2 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressDots3 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressHourglass0 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressHourglass1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressHourglass2 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressTimer0 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressTimer1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressTimer2 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressTimer3 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressTimer4 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressWaterLevel0 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressWaterLevel1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressWaterLevel2 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const progressWaterLevel3 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemAccept1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemAccept2 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemAlert = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemBox = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemBusy0 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemBusy1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemDecline1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemDecline2 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemDotEmpty = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemDotFull = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemEv3small = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemPlay = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemSlider0 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemSlider1 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemSlider2 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemSlider3 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemSlider4 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemSlider5 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemSlider6 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemSlider7 = screen.unpackPNG(hex``);
//% fixedInstance jres
//% fixedInstance jres blockIdentity=brick.__imagePicker
export const systemSlider8 = screen.unpackPNG(hex``);
}

11
libs/core/input.cpp Normal file
View File

@ -0,0 +1,11 @@
#include "pxt.h"
namespace sensors {
/**
* Mark a sensor as used
*/
//%
void __sensorUsed(int port, int type) {
}
}

View File

@ -13,6 +13,7 @@ namespace sensors.internal {
control.runInBackground(() => {
let prev = query()
changeHandler(prev, prev)
while (true) {
loops.pause(periodMs)
let curr = query()
@ -73,6 +74,11 @@ namespace sensors.internal {
}
export function getActiveSensors(): Sensor[] {
init();
return sensorInfos.filter(si => si.sensor && si.sensor.isActive()).map(si => si.sensor);
}
function readUartInfo(port: number, mode: number) {
let buf = output.createBuffer(UartCtlOff.Size)
buf[UartCtlOff.Port] = port
@ -141,6 +147,11 @@ namespace sensors.internal {
this._port = port_ - 1
init()
sensorInfos[this._port].sensors.push(this)
this.markUsed();
}
markUsed() {
sensors.__sensorUsed(this._port, this._deviceType());
}
_activated() { }
@ -183,14 +194,14 @@ namespace sensors.internal {
Low = 3,
}
export class ThresholdDetector {
export class ThresholdDetector {
public id: number;
private min: number;
private max: number;
private lowThreshold: number;
private highThreshold: number;
private level: number;
private state: ThresholdState;
public state: ThresholdState;
constructor(id: number, min = 0, max = 100, lowThreshold = 20, highThreshold = 80) {
this.id = id;
@ -203,6 +214,7 @@ namespace sensors.internal {
}
public setLevel(level: number) {
if (this == null) return
this.level = this.clampValue(level);
if (this.level >= this.highThreshold) {

View File

@ -13,14 +13,35 @@
#include <sys/stat.h>
#include <errno.h>
#include <fcntl.h>
#include <malloc.h>
#define THREAD_DBG(...)
#define MALLOC_LIMIT (8 * 1024 * 1024)
#define MALLOC_CHECK_PERIOD (1024 * 1024)
void *xmalloc(size_t sz) {
static size_t allocBytes = 0;
allocBytes += sz;
if (allocBytes >= MALLOC_CHECK_PERIOD) {
allocBytes = 0;
auto info = mallinfo();
DMESG("malloc used: %d kb", info.uordblks / 1024);
if (info.uordblks > MALLOC_LIMIT) {
target_panic(904);
}
}
auto r = malloc(sz);
if (r == NULL)
target_panic(905); // shouldn't happen
return r;
}
void *operator new(size_t size) {
return malloc(size);
return xmalloc(size);
}
void *operator new[](size_t size) {
return malloc(size);
return xmalloc(size);
}
void operator delete(void *p) {
@ -200,10 +221,6 @@ int current_time_ms() {
return currTime() - startTime;
}
int getSerialNumber() {
return 42; // TODO
}
void disposeThread(Thread *t) {
if (allThreads == t) {
allThreads = t->next;
@ -376,6 +393,10 @@ static void runPoller(Thread *thr) {
// note that this is run without the user mutex held - it should not modify any state!
TValue prev = pxt::runAction0(query);
startUser();
pxt::runAction2(thr->act, prev, prev);
stopUser();
while (true) {
sleep_core_us(us);
if (paniced)

View File

@ -1,9 +1 @@
//% weight=100
namespace brick {
}
//% color="#B4009E" weight=98 icon="\uf192"
//% groups='["Ultrasonic Sensor", "Touch Sensor", "Color Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
namespace sensors {
}

View File

@ -20,3 +20,13 @@ void target_init() {
}
}
namespace motors {
/**
* Mark a motor as used
*/
//%
void __motorUsed(int port, bool large) {
}
}

View File

@ -7,6 +7,14 @@ enum Output {
C = 0x04,
//% block="D"
D = 0x08,
//% block="B+C"
BC = Output.B | Output.C,
//% block="A+B"
AB = Output.A | Output.B,
//% block="C+D"
CD = Output.C | Output.D,
//% block="A+D"
AD = Output.A | Output.D,
//% block="All"
ALL = 0x0f
}
@ -17,6 +25,15 @@ enum OutputType {
MiniTacho = 8,
}
enum MoveUnit {
//% block="rotations"
Rotations,
//% block="degrees"
Degrees,
//% block="milliseconds"
MilliSeconds
}
namespace motors {
let pwmMM: MMap
let motorMM: MMap
@ -34,216 +51,569 @@ namespace motors {
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)
if (!motorMM) control.fail("no motor file")
resetMotors()
resetAllMotors()
let buf = output.createBuffer(1)
const buf = output.createBuffer(1)
buf[0] = DAL.opProgramStart
writePWM(buf)
}
function writePWM(buf: Buffer): void {
/**
* Sends a command to the motors device
* @param buf the command buffer
*/
//%
export function writePWM(buf: Buffer): void {
init()
pwmMM.write(buf)
}
function readPWM(buf: Buffer): void {
/**
* Sends and receives a message from the motors device
* @param buf message buffer
*/
//%
export function readPWM(buf: Buffer): void {
init()
pwmMM.read(buf);
}
function mkCmd(out: Output, cmd: number, addSize: number) {
/**
* Allocates a message buffer
* @param out ports
* @param cmd command id
* @param addSize required additional bytes
*/
//%
export function mkCmd(out: Output, cmd: number, addSize: number) {
const b = output.createBuffer(2 + addSize)
b.setNumber(NumberFormat.UInt8LE, 0, cmd)
b.setNumber(NumberFormat.UInt8LE, 1, out)
return b
}
function resetMotors() {
reset(Output.ALL)
function outputToName(out: Output): string {
let r = "";
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (out & (1 << i)) {
if (r.length > 0) r += "+";
r += "ABCD"[i];
}
}
return r;
}
/**
* Stops all motors
*/
//% blockId=motorStopAll block="stop all `icons.motorLarge`"
//% weight=10 group="Motors" blockGap=8
//% blockId=motorStopAll block="stop all motors"
//% weight=5
//% group="Motion"
export function stopAllMotors() {
const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
writePWM(b)
}
/**
* Resets all motors
*/
//% group="Motion"
export function resetAllMotors() {
reset(Output.ALL)
}
//% fixedInstances
export class Motor extends control.Component {
private port: Output;
private large: boolean;
private brake: boolean;
export class MotorBase extends control.Component {
protected _port: Output;
protected _portName: string;
protected _brake: boolean;
private _initialized: boolean;
private _init: () => void;
private _setSpeed: (speed: number) => void;
private _move: (steps: boolean, stepsOrTime: number, speed: number) => void;
constructor(port: Output, large: boolean) {
constructor(port: Output, init: () => void, setSpeed: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
super();
this.port = port;
this.large = large;
this.brake = false;
this._port = port;
this._portName = outputToName(this._port);
this._brake = false;
this._initialized = false;
this._init = init;
this._setSpeed = setSpeed;
this._move = move;
}
/**
* Sets the motor speed level from ``-100`` to ``100``.
* @param motor the output connection that the motor is connected to
* @param speed the power from ``100`` full forward to ``-100`` full backward, eg: 50
* Lazy initialization code
*/
//% blockId=motorSetSpeed block="set speed `icons.motorLarge` %motor|to %speed|%"
//% weight=99 group="Motors" blockGap=8
//% power.min=-100 power.max=100
setSpeed(speed: number) {
speed = Math.clamp(-100, 100, speed >> 0);
// per LEGO: call it power, use speed
const b = mkCmd(this.port, DAL.opOutputSpeed, 1)
b.setNumber(NumberFormat.Int8LE, 2, speed)
writePWM(b)
if (speed) {
const b = mkCmd(this.port, DAL.opOutputStart, 0)
writePWM(b);
} else {
this.stop();
protected init() {
if (!this._initialized) {
this._initialized = true;
this._init();
}
}
/**
* 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=motorMove block="move `icons.motorLarge` %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 `icons.motorLarge` %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="set `icons.motorLarge` %motor|brake %brake"
//% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake"
//% brake.fieldEditor=toggleonoff
//% weight=60 group="Motors" blockGap=8
//% weight=60 blockGap=8
//% group="Motion"
setBrake(brake: boolean) {
this.brake = brake;
this.init();
this._brake = brake;
}
/**
* Reverses the motor polarity
*/
//% blockId=motorSetReversed block="set `icons.motorLarge` %motor|reversed %reversed"
//% blockId=motorSetReversed block="set %motor|reversed %reversed"
//% reversed.fieldEditor=toggleonoff
//% weight=59 group="Motors"
//% weight=59
//% group="Motion"
setReversed(reversed: boolean) {
const b = mkCmd(this.port, DAL.opOutputPolarity, 1)
b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1);
this.init();
const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
b.setNumber(NumberFormat.Int8LE, 2, reversed ? 0 : 1);
writePWM(b)
}
/**
* Stops the motor(s).
*/
//%
stop() {
this.init();
stop(this._port, this._brake);
}
/**
* Resets the motor(s).
*/
//%
reset() {
this.init();
reset(this._port);
}
/**
* Sets the speed of the motor.
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=motorSetSpeed block="set speed of %motor|to %speed|%"
//% on.fieldEditor=toggleonoff
//% weight=99 blockGap=8
//% speed.min=-100 speed.max=100
//% group="Motion"
setSpeed(speed: number) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) // always stop
this.stop();
else
this._setSpeed(speed);
}
/**
* Moves the motor by a number of rotations, degress or seconds
* @param value the move quantity, eg: 2
* @param unit the meaning of the value
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
*/
//% blockId=motorMove block="move %motor|for %value|%unit|at %speed|%"
//% weight=98 blockGap=8
//% speed.min=-100 speed.max=100
//% group="Motion"
move(value: number, unit: MoveUnit, speed: number) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) {
this.stop();
return;
}
let useSteps: boolean;
let stepsOrTime: number;
switch (unit) {
case MoveUnit.Rotations:
stepsOrTime = (value * 360) >> 0;
useSteps = true;
break;
case MoveUnit.Degrees:
stepsOrTime = value >> 0;
useSteps = true;
break;
default:
stepsOrTime = value;
useSteps = false;
break;
}
this._move(useSteps, stepsOrTime, speed);
}
/**
* Returns a value indicating if the motor is still running a previous command.
*/
//% group="Sensors"
isReady(): boolean {
this.init();
const buf = mkCmd(this._port, DAL.opOutputTest, 2);
readPWM(buf)
const flags = buf.getNumber(NumberFormat.UInt8LE, 2);
// TODO: FIX with ~ support
for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
const flag = 1 << i;
if ((this._port & flag) && (flags & flag))
return false;
}
return true;
}
/**
* Pauses the execution until the previous command finished.
* @param timeOut optional maximum pausing time in milliseconds
*/
//% blockId=motorPauseUntilRead block="%motor|pause until ready"
//% weight=97
//% group="Motion"
pauseUntilReady(timeOut?: number) {
pauseUntil(() => this.isReady(), timeOut);
}
}
//% fixedInstances
export class Motor extends MotorBase {
private _large: boolean;
constructor(port: Output, large: boolean) {
super(port, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
this._large = large;
this.markUsed();
}
markUsed() {
motors.__motorUsed(this._port, this._large);
}
private __init() {
// specify motor size on this port
const b = mkCmd(outOffset(this._port), DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
writePWM(b)
}
private __setSpeed(speed: number) {
const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
b.setNumber(NumberFormat.Int8LE, 2, speed)
writePWM(b)
if (speed) {
writePWM(mkCmd(this._port, DAL.opOutputStart, 0))
}
}
private __move(steps: boolean, stepsOrTime: number, speed: number) {
step(this._port, {
useSteps: steps,
step1: 0,
step2: stepsOrTime,
step3: 0,
speed: speed,
useBrake: this._brake
})
}
/**
* Gets motor actual speed.
* @param motor the port which connects to the motor
*/
//% blockId=motorSpeed block="`icons.motorLarge` %motor|speed"
//% weight=72 group="Motors" blockGap=8
//% blockId=motorSpeed block="%motor|speed"
//% weight=72
//% blockGap=8
//% group="Sensors"
speed(): number {
return getMotorData(this.port).actualSpeed;
this.init();
return getMotorData(this._port).actualSpeed;
}
/**
* Gets motor step count.
* Gets motor angle.
* @param motor the port which connects to the motor
*/
//% blockId=motorCount block="`icons.motorLarge` %motor|count"
//% weight=71 group="Motors" blockGap=8
count(): number {
return getMotorData(this.port).count;
//% blockId=motorAngle block="%motor|angle"
//% weight=70
//% group="Sensors"
angle(): number {
this.init();
return getMotorData(this._port).count;
}
/**
* Gets motor tacho count.
* Gets motor tachometer count.
* @param motor the port which connects to the motor
*/
//% blockId=motorTachoCount block="`icons.motorLarge` %motor|tacho count"
//% weight=70 group="Motors"
tachoCount(): number {
return getMotorData(this.port).tachoCount;
//% blockId=motorTachoCount block="%motor|tacho"
//% weight=69
//% blockGap=8
//% group="Sensors"
tacho(): number {
this.init();
return getMotorData(this._port).tachoCount;
}
/**
* Clears the motor count
*/
clearCount() {
const b = mkCmd(this.port, DAL.opOutputClearCount, 0)
//% blockId=motorClearCount block="%motor|clear counts"
//% weight=68
//% blockGap=8
//% group="Sensors"
clearCounts() {
this.init();
const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
writePWM(b)
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (this.port & (1 << i)) {
if (this._port & (1 << i)) {
motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
}
}
}
/**
* Resets the motor.
* Returns the status of the motor
*/
reset() {
reset(this.port);
//%
toString(): string {
return `${this._large ? "" : "M"}${this._portName} ${this.speed()}% ${this.angle()}>`;
}
}
//% whenUsed fixedInstance block="large A"
export const largeMotorA = new Motor(Output.A, true);
export const largeA = new Motor(Output.A, true);
//% whenUsed fixedInstance block="large B"
export const largeMotorB = new Motor(Output.B, true);
export const largeB = new Motor(Output.B, true);
//% whenUsed fixedInstance block="large C"
export const largeMotorC = new Motor(Output.C, true);
export const largeC = new Motor(Output.C, true);
//% whenUsed fixedInstance block="large D"
export const largeMotorD = new Motor(Output.D, true);
export const largeD = new Motor(Output.D, true);
//% whenUsed fixedInstance block="medium A"
export const mediumMotorA = new Motor(Output.A, false);
export const mediumA = new Motor(Output.A, false);
//% whenUsed fixedInstance block="medium B"
export const mediumMotorB = new Motor(Output.B, false);
export const mediumB = new Motor(Output.B, false);
//% whenUsed fixedInstance block="medium C"
export const mediumMotorC = new Motor(Output.C, false);
export const mediumC = new Motor(Output.C, false);
//% whenUsed fixedInstance block="medium D"
export const mediumMotorD = new Motor(Output.D, false);
export const mediumD = new Motor(Output.D, false);
//% fixedInstances
export class SynchedMotorPair extends MotorBase {
private wheelRadius: number;
private baseLength: number;
constructor(ports: Output) {
super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
this.wheelRadius = 3;
this.baseLength = 12;
this.markUsed();
}
markUsed() {
motors.__motorUsed(this._port, true);
}
private __init() {
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (this._port & (1 << i)) {
const b = mkCmd(outOffset(1 << i), DAL.opOutputSetType, 1)
b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor
writePWM(b)
}
}
}
private __setSpeed(speed: number) {
syncMotors(this._port, {
speed: speed,
turnRatio: 100, // same speed
useBrake: !!this._brake
})
}
private __move(steps: boolean, stepsOrTime: number, speed: number) {
syncMotors(this._port, {
useSteps: steps,
speed: speed,
turnRatio: 100, // same speed
stepsOrTime: stepsOrTime,
useBrake: this._brake
});
}
/**
* The Move Tank block can make a robot drive forward, backward, turn, or stop.
* Use the Move Tank block for robot vehicles that have two Large Motors,
* with one motor driving the left side of the vehicle and the other the right side.
* You can make the two motors go at different speeds or in different directions
* to make your robot turn.
* @param value the amount of movement, eg: 2
* @param unit
* @param speedLeft the speed on the left motor, eg: 50
* @param speedRight the speed on the right motor, eg: 50
*/
//% blockId=motorPairTank block="tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit"
//% weight=9 blockGap=8
//% speedLeft.min=-100 speedLeft=100
//% speedRight.min=-100 speedRight=100
//% inlineInputMode=inline
//% group="Chassis"
tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
this.init();
speedLeft = Math.clamp(-100, 100, speedLeft >> 0);
speedRight = Math.clamp(-100, 100, speedRight >> 0);
const speed = Math.abs(speedLeft) > Math.abs(speedRight) ? speedLeft : speedRight;
const turnRatio = speedLeft == speed
? (100 - speedRight / speedLeft * 100)
: (speedLeft / speedRight * 100 - 100);
this.steer(turnRatio, speed, value, unit);
}
/**
* Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)
* using a unicycle model.
* @param speed speed of the center point between motors, eg: 10
* @param rotationSpeed rotation of the robot around the center point, eg: 30
* @param value the amount of movement, eg: 2
* @param unit
*/
//% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit"
//% inlineInputMode=inline
//% group="Chassis"
//% weight=8 blockGap=8
drive(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
this.init();
// speed is expressed in %
const R = this.wheelRadius; // cm
const L = this.baseLength; // cm
const PI = 3.14;
const maxw = 170 / 60 * 2 * PI; // rad / s
const maxv = maxw * R; // cm / s
// speed is cm / s
const v = speed; // cm / s
const w = rotationSpeed / 360 * 2 * PI; // rad / s
const vr = (2 * v + w * L) / (2 * R); // rad / s
const vl = (2 * v - w * L) / (2 * R); // rad / s
const sr = vr / maxw * 100; // %
const sl = vl / maxw * 100; // %
this.tank(sr, sl, value, unit)
}
/**
* Turns the motor and the follower motor by a number of rotations
* @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
* @param value the move quantity, eg: 2
* @param unit the meaning of the value
*/
//% blockId=motorPairTurn block="steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit"
//% weight=6 blockGap=8
//% turnRatio.min=-200 turnRatio=200
//% inlineInputMode=inline
//% group="Chassis"
steer(turnRatio: number, speed: number, value: number, unit: MoveUnit) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) {
stop(this._port, this._brake);
return;
}
turnRatio = Math.clamp(-200, 200, turnRatio >> 0);
let useSteps: boolean;
let stepsOrTime: number;
switch (unit) {
case MoveUnit.Rotations:
stepsOrTime = (value * 360) >> 0;
useSteps = true;
break;
case MoveUnit.Degrees:
stepsOrTime = value >> 0;
useSteps = true;
break;
default:
stepsOrTime = value >> 0;
useSteps = false;
break;
}
syncMotors(this._port, {
useSteps: useSteps,
speed: speed,
turnRatio: turnRatio,
stepsOrTime: stepsOrTime,
useBrake: this._brake
});
}
/**
* Sets the wheels radius and base length of a directional drive robot
* @param wheelRadius
* @param baseLength
*/
//% group="Chassis"
setDimensions(wheelRadius: number, baseLength: number): void {
this.wheelRadius = wheelRadius;
this.baseLength = baseLength;
}
/**
* Returns the name(s) of the motor
*/
//%
toString(): string {
this.init();
let r = outputToName(this._port);
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (this._port & (1 << i)) {
r += ` ${getMotorData(1 << i).actualSpeed}%`
}
}
return r;
}
}
//% whenUsed fixedInstance block="large B+C"
export const largeBC = new SynchedMotorPair(Output.BC);
//% whenUsed fixedInstance block="large A+D"
export const largeAD = new SynchedMotorPair(Output.AD);
//% whenUsed fixedInstance block="large A+B"
export const largeAB = new SynchedMotorPair(Output.AB);
//% whenUsed fixedInstance block="large C+D"
export const largeCD = new SynchedMotorPair(Output.CD);
function reset(out: Output) {
let b = mkCmd(out, DAL.opOutputReset, 0)
writePWM(b)
writePWM(mkCmd(out, DAL.opOutputReset, 0))
writePWM(mkCmd(out, DAL.opOutputClearCount, 0))
}
function outOffset(out: Output) {
@ -254,7 +624,7 @@ namespace motors {
return 0
}
interface MotorData {
export interface MotorData {
actualSpeed: number; // -100..+100
tachoCount: number;
count: number;
@ -262,7 +632,8 @@ namespace motors {
// only a single output at a time
function getMotorData(out: Output): MotorData {
let buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
init()
const buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
return {
actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),
tachoCount: buf.getNumber(NumberFormat.Int32LE, MotorDataOff.TachoCounts),
@ -270,6 +641,34 @@ namespace motors {
}
}
export function getAllMotorData(): MotorData[] {
init();
return [Output.A, Output.B, Output.C, Output.D].map(out => getMotorData(out));
}
interface SyncOptions {
useSteps?: boolean;
speed: number;
turnRatio: number;
stepsOrTime?: number;
useBrake?: boolean;
}
function syncMotors(out: Output, opts: SyncOptions) {
const cmd = opts.useSteps ? DAL.opOutputStepSync : DAL.opOutputTimeSync;
const b = mkCmd(out, cmd, 11);
const speed = Math.clamp(-100, 100, opts.speed);
const turnRatio = Math.clamp(-200, 200, opts.turnRatio);
b.setNumber(NumberFormat.Int8LE, 2, speed)
// note that b[3] is padding
b.setNumber(NumberFormat.Int16LE, 4 + 4 * 0, turnRatio)
// b[6], b[7] is padding
b.setNumber(NumberFormat.Int32LE, 4 + 4 * 1, opts.stepsOrTime || 0)
b.setNumber(NumberFormat.Int8LE, 4 + 4 * 2, opts.useBrake ? 1 : 0)
writePWM(b)
}
interface StepOptions {
power?: number;
speed?: number; // either speed or power has to be present
@ -280,6 +679,17 @@ namespace motors {
useBrake?: boolean;
}
function start(out: Output) {
const b = mkCmd(out, DAL.opOutputStart, 0)
writePWM(b);
}
function stop(out: Output, brake: boolean) {
const b = mkCmd(out, DAL.opOutputStop, 1)
b.setNumber(NumberFormat.UInt8LE, 2, brake ? 1 : 0)
writePWM(b);
}
function step(out: Output, opts: StepOptions) {
let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed
let speed = opts.speed

View File

@ -88,7 +88,7 @@ Image unpackPNG(Buffer png) {
uint32_t byteW = (hd.width + 7) >> 3;
uint32_t expSize = (byteW + 1) * hd.height;
unsigned long sz = expSize;
uint8_t *tmp = (uint8_t *)malloc(sz);
uint8_t *tmp = (uint8_t *)xmalloc(sz);
int code = uncompress(tmp, &sz, png->data + sizeof(hd), hd.lenIDAT);
if (code != 0) {
DMESG("PNG: zlib failed: %d", code);

View File

@ -3,6 +3,8 @@
#include "pxtbase.h"
void *xmalloc(size_t sz);
namespace pxt {
void raiseEvent(int id, int event);
int allocateNotifyEvent();

View File

@ -10,6 +10,8 @@
"linux.cpp",
"mmap.cpp",
"control.cpp",
"console.ts",
"serialnumber.cpp",
"buttons.ts",
"png.cpp",
"screen.cpp",
@ -17,6 +19,7 @@
"output.cpp",
"output.ts",
"core.ts",
"input.cpp",
"input.ts",
"shims.d.ts",
"enums.d.ts",

View File

@ -1,4 +1,6 @@
namespace brick {
export const LINE_HEIGHT = 12;
//% shim=screen::_setPixel
function _setPixel(p0: uint32, p1: uint32, mode: Draw): void { }
@ -63,30 +65,21 @@ namespace brick {
firstChar: 32,
// source https://github.com/lancaster-university/microbit-dal/blob/master/source/core/MicroBitFont.cpp
data: hex`
0000000000 0202020002 0a0a000000 0a1f0a1f0a 0e130e190e 1309041219 0609060916 0202000000 0402020204
0204040402 000a040a00 00040e0400 0000000402 00000e0000 0000000200 1008040201 0609090906 040604040e
070806010f 0f08040906 0c0a091f08 1f010f100f 08040e110e 1f08040201 0e110e110e 0e110e0402 0002000200
0004000402 0804020408 000e000e00 0204080402 0e110c0004 0e11151906 06090f0909 0709070907 0e0101010e
0709090907 0f0107010f 0f01070101 0e0119110e 09090f0909 0702020207 1f08080906 0905030509 010101010f
111b151111 1113151911 0609090906 0709070101 060909060c 0709070911 0e01060807 1f04040404 0909090906
1111110a04 1111151b11 0909060909 110a040404 0f0402010f 0e0202020e 0102040810 0e0808080e 040a000000
000000001f 0204000000 000e09091e 0101070907 000e01010e 08080e090e 060907010e 0c02070202 0e090e0806
0101070909 0200020202 0800080806 0105030509 020202020c 001b151111 0007090909 0006090906 0007090701
000e090e08 000e010101 000c020403 02020e021c 000909091e 0011110a04 001111151b 0009060609 00110a0403
0000000000 0202020002 0a0a000000 0a1f0a1f0a 0e130e190e 1309041219 0609060916 0202000000 0402020204
0204040402 000a040a00 00040e0400 0000000402 00000e0000 0000000200 1008040201 0609090906 040604040e
070806010f 0f08040906 0c0a091f08 1f010f100f 08040e110e 1f08040201 0e110e110e 0e110e0402 0002000200
0004000402 0804020408 000e000e00 0204080402 0e110c0004 0e11151906 06090f0909 0709070907 0e0101010e
0709090907 0f0107010f 0f01070101 0e0119110e 09090f0909 0702020207 1f08080906 0905030509 010101010f
111b151111 1113151911 0609090906 0709070101 060909060c 0709070911 0e01060807 1f04040404 0909090906
1111110a04 1111151b11 0909060909 110a040404 0f0402010f 0e0202020e 0102040810 0e0808080e 040a000000
000000001f 0204000000 000e09091e 0101070907 000e01010e 08080e090e 060907010e 0c02070202 0e090e0806
0101070909 0200020202 0800080806 0105030509 020202020c 001b151111 0007090909 0006090906 0007090701
000e090e08 000e010101 000c020403 02020e021c 000909091e 0011110a04 001111151b 0009060609 00110a0403
000f04020f 0c0406040c 0202020202 0302060203 0000061800
`
}
}
/**
* Sets a pixel on or off
* @param on a value indicating if the pixel should be on or off
* @param x the starting position's x coordinate, eg: 0
* @param y the starting position's x coordinate, eg: 0
*/
//% blockId=screen_setpixel block="`icons.brickDisplay` set pixel %on| at x: %x| y: %y"
//% weight=98 group="Screen"
//% x.min=0 x.max=178 y.min=0 y.max=128 on.fieldEditor=toggleonoff
export function setPixel(on: boolean, x: number, y: number) {
x |= 0
y |= 0
@ -95,14 +88,20 @@ namespace brick {
}
/**
* Show text on the screen.
* Show text on the screen at a specific line.
* @param text the text to print on the screen, eg: "Hello world"
* @param x the starting position's x coordinate, eg: 0
* @param y the starting position's x coordinate, eg: 0
* @param line the line number to print the text at, eg: 0
*/
//% blockId=screen_print block="`icons.brickDisplay` print %text| at x: %x| y: %y"
//% weight=99 group="Screen" inlineInputMode="inline" blockGap=8
//% x.min=0 x.max=178 y.min=0 y.max=128
//% blockId=screen_print block="print %text| at line %line"
//% weight=98 group="Screen" inlineInputMode="inline" blockGap=8
//% line.min=0 line.max=9
export function printLine(text: string, line: number) {
const NUM_LINES = 9;
const offset = 5;
const y = offset + (Math.clamp(0, NUM_LINES, line) / (NUM_LINES + 2)) * DAL.LCD_HEIGHT;
brick.print(text, offset, y);
}
export function print(text: string, x: number, y: number, mode = Draw.Normal) {
x |= 0
y |= 0
@ -137,8 +136,8 @@ namespace brick {
* Shows an image on screen
* @param image image to draw
*/
//% blockId=screen_show_image block="`icons.brickDisplay` show image %image=scren_image_picker"
//% weight=95 group="Screen" blockGap=8
//% blockId=screen_show_image block="show image %image=screen_image_picker"
//% weight=100 group="Screen" blockGap=8
export function showImage(image: Image, delay: number = 400) {
if (!image) return;
image.draw(0, 0, Draw.Normal);
@ -151,15 +150,24 @@ namespace brick {
* An image
* @param image the image
*/
//% blockId=scren_image_picker block="%image" shim=TD_ID
//% image.fieldEditor="imagedropdown"
//% blockId=screen_image_picker block="%image" shim=TD_ID
//% image.fieldEditor="images"
//% image.fieldOptions.columns=6
//% image.fieldOptions.hasSearchBar=true
//% image.fieldOptions.width=600
//% group="Screen" weight=0 blockHidden=1
export function _imagePicker(image: Image): Image {
export function __imagePicker(image: Image): Image {
return image;
}
/**
* Clears the screen
*/
//% blockId=screen_clear_screen block="clear screen"
//% weight=90 group="Screen"
export function clearScreen() {
screen.clear();
}
export function drawRect(x: number, y: number, w: number, h: number, mode = Draw.Normal) {
x |= 0;
y |= 0;
@ -199,5 +207,36 @@ namespace brick {
setLineCore(x, x1, y, mode);
}
/**
* Prints the port states on the screen
*/
//% blockId=brickPrintPorts block="print ports"
//% weight=1 group="Screen"
export function printPorts() {
clearScreen();
// motors
const datas = motors.getAllMotorData();
for(let i = 0; i < datas.length; ++i) {
const data = datas[i];
if (!data.actualSpeed && !data.count) continue;
const x = i * 52;
print(`${data.actualSpeed}%`, x, brick.LINE_HEIGHT)
print(`${data.count}>`, x, 2 * brick.LINE_HEIGHT)
console.logValue(`speed.` + "ABCD"[i], data.actualSpeed);
console.logValue(`angle.` + "ABCD"[i], data.count);
}
// sensors
const sis = sensors.internal.getActiveSensors();
for(let i =0; i < sis.length; ++i) {
const si = sis[i];
const x = (si.port() - 1) * 52;
const v = si._query();
print(`${v}`, x, 9 * brick.LINE_HEIGHT)
console.logValue(`sensor.` + si.port(), v);
}
}
}

View File

@ -0,0 +1,77 @@
#include "pxt.h"
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <unistd.h>
#define BTPROTO_HCI 1
#define HCIGETDEVLIST _IOR('H', 210, int)
#define HCIGETDEVINFO _IOR('H', 211, int)
struct hci_dev_info {
uint16_t dev_id;
char name[8];
uint8_t bdaddr[6];
uint32_t padding[32];
};
struct hci_dev_req {
uint16_t dev_id;
uint32_t dev_opt;
};
struct hci_dev_list_req {
uint16_t dev_num;
hci_dev_req dev_req[2];
};
static uint32_t bt_addr() {
uint32_t res = -1;
int fd = socket(AF_BLUETOOTH, SOCK_RAW, BTPROTO_HCI);
if (fd < 0) {
DMESG("BT_ADDR: can't open HCI socket");
return res;
}
hci_dev_list_req dl;
dl.dev_num = 1;
if (ioctl(fd, HCIGETDEVLIST, (void *)&dl) < 0) {
DMESG("BT_ADDR: can't get HCI device list");
goto done;
}
hci_dev_info di;
di.dev_id = dl.dev_req[0].dev_id;
if (ioctl(fd, HCIGETDEVINFO, (void *)&di) < 0) {
DMESG("BT_ADDR: can't get HCI device info");
goto done;
}
memcpy(&res, di.bdaddr, 4);
res *= 0x1000193;
res += di.bdaddr[4];
res *= 0x1000193;
res += di.bdaddr[5];
done:
close(fd);
return res;
}
namespace pxt {
int getSerialNumber() {
static int serial;
if (serial != 0)
return serial;
serial = bt_addr() & 0x7fffffff;
return serial;
}
} // namespace pxt

16
libs/core/shims.d.ts vendored
View File

@ -120,5 +120,21 @@ declare namespace output {
//% shim=output::createBuffer
function createBuffer(size: int32): Buffer;
}
declare namespace motors {
/**
* Mark a motor as used
*/
//% shim=motors::__motorUsed
function __motorUsed(port: int32, large: boolean): void;
}
declare namespace sensors {
/**
* Mark a sensor as used
*/
//% shim=sensors::__sensorUsed
function __sensorUsed(port: int32, type: int32): void;
}
// Auto-generated. Do not edit. Really.

View File

@ -1,81 +0,0 @@
namespace pxsim {
enum ThresholdState {
High,
Low,
Normal
}
export class AnalogSensorState {
public sensorUsed: boolean = false;
private level: number;
private state = ThresholdState.Normal;
constructor(public id: number, private min = 0, private max = 255, private lowThreshold = 64, private highThreshold = 192) {
this.level = Math.ceil((max - min) / 2);
}
public setUsed() {
if (!this.sensorUsed) {
this.sensorUsed = true;
runtime.queueDisplayUpdate();
}
}
public setLevel(level: number) {
this.level = this.clampValue(level);
if (this.level >= this.highThreshold) {
this.setState(ThresholdState.High);
}
else if (this.level <= this.lowThreshold) {
this.setState(ThresholdState.Low);
}
else {
this.setState(ThresholdState.Normal);
}
}
public getLevel(): number {
return this.level;
}
public setLowThreshold(value: number) {
this.lowThreshold = this.clampValue(value);
this.highThreshold = Math.max(this.lowThreshold + 1, this.highThreshold);
}
public setHighThreshold(value: number) {
this.highThreshold = this.clampValue(value);
this.lowThreshold = Math.min(this.highThreshold - 1, this.lowThreshold);
}
private clampValue(value: number) {
if (value < this.min) {
return this.min;
}
else if (value > this.max) {
return this.max;
}
return value;
}
private setState(state: ThresholdState) {
if (this.state === state) {
return;
}
this.state = state;
switch (state) {
case ThresholdState.High:
board().bus.queue(this.id, DAL.ANALOG_THRESHOLD_HIGH);
break;
case ThresholdState.Low:
board().bus.queue(this.id, DAL.ANALOG_THRESHOLD_LOW);
break;
case ThresholdState.Normal:
break;
}
}
}
}

View File

@ -1,177 +0,0 @@
namespace pxsim.pins {
export class CommonPin extends Pin {
used: boolean;
}
export class DigitalPin extends CommonPin {
}
export class AnalogPin extends CommonPin {
}
export function markUsed(name: CommonPin) {
if (!name.used) {
name.used = true;
runtime.queueDisplayUpdate();
}
}
}
namespace pxsim.DigitalPinMethods {
export function digitalRead(name: pins.DigitalPin): number {
return name.digitalReadPin();
}
/**
* Set a pin or connector value to either 0 or 1.
* @param value value to set on the pin, 1 eg,0
*/
export function digitalWrite(name: pins.DigitalPin, value: number): void {
name.digitalWritePin(value);
}
/**
* Configures this pin to a digital input, and generates events where the timestamp is the duration
* that this pin was either ``high`` or ``low``.
*/
export function onPulsed(name: pins.DigitalPin, pulse: number, body: RefAction): void {
// TODO
}
/**
* Returns the duration of a pulse in microseconds
* @param value the value of the pulse (default high)
* @param maximum duration in micro-seconds
*/
export function pulseIn(name: pins.DigitalPin, pulse: number, maxDuration = 2000000): number {
// TODO
return 500;
}
/**
* Configures the pull of this pin.
* @param pull one of the mbed pull configurations: PullUp, PullDown, PullNone
*/
export function setPull(name: pins.DigitalPin, pull: number): void {
name.setPull(pull);
}
/**
* Do something when a pin is pressed.
* @param body the code to run when the pin is pressed
*/
export function onPressed(name: pins.DigitalPin, body: RefAction): void {
}
/**
* Do something when a pin is released.
* @param body the code to run when the pin is released
*/
export function onReleased(name: pins.DigitalPin, body: RefAction): void {
}
/**
* Get the pin state (pressed or not). Requires to hold the ground to close the circuit.
* @param name pin used to detect the touch
*/
export function isPressed(name: pins.DigitalPin): boolean {
return name.isTouched();
}
}
namespace pxsim.AnalogPinMethods {
/**
* Read the connector value as analog, that is, as a value comprised between 0 and 1023.
*/
export function analogRead(name: pins.AnalogPin): number {
pins.markUsed(name);
return name.analogReadPin();
}
/**
* Set the connector value as analog. Value must be comprised between 0 and 1023.
* @param value value to write to the pin between ``0`` and ``1023``. eg:1023,0
*/
export function analogWrite(name: pins.AnalogPin, value: number): void {
pins.markUsed(name);
name.analogWritePin(value);
}
/**
* Configures the Pulse-width modulation (PWM) of the analog output to the given value in
* **microseconds** or `1/1000` milliseconds.
* If this pin is not configured as an analog output (using `analog write pin`), the operation has
* no effect.
* @param micros period in micro seconds. eg:20000
*/
export function analogSetPeriod(name: pins.AnalogPin, micros: number): void {
pins.markUsed(name);
name.analogSetPeriod(micros);
}
/**
* Writes a value to the servo, controlling the shaft accordingly. On a standard servo, this will
* set the angle of the shaft (in degrees), moving the shaft to that orientation. On a continuous
* rotation servo, this will set the speed of the servo (with ``0`` being full-speed in one
* direction, ``180`` being full speed in the other, and a value near ``90`` being no movement).
* @param value angle or rotation speed, eg:180,90,0
*/
export function servoWrite(name: pins.AnalogPin, value: number): void {
pins.markUsed(name);
name.servoWritePin(value);
}
/**
* Configures this IO pin as an analog/pwm output, configures the period to be 20 ms, and sets the
* pulse width, based on the value it is given **microseconds** or `1/1000` milliseconds.
* @param micros pulse duration in micro seconds, eg:1500
*/
export function servoSetPulse(name: pins.AnalogPin, micros: number): void {
pins.markUsed(name);
// TODO fix pxt
// name.servoSetPulse(micros);
}
}
namespace pxsim.PwmPinMethods {
export function analogSetPeriod(name: pins.AnalogPin, micros: number): void {
name.analogSetPeriod(micros);
}
export function servoWrite(name: pins.AnalogPin, value: number): void {
name.servoWritePin(value);
}
export function servoSetPulse(name: pins.AnalogPin, micros: number): void {
name.servoSetPulse(name.id, micros);
}
}
namespace pxsim.pins {
export function pulseDuration(): number {
// bus last event timestamp
return 500;
}
export function createBuffer(sz: number) {
return pxsim.BufferMethods.createBuffer(sz)
}
export function spiWrite(value: number): number {
// TODO
return 0;
}
export function i2cReadBuffer(address: number, size: number, repeat?: boolean): RefBuffer {
// fake reading zeros
return createBuffer(size)
}
export function i2cWriteBuffer(address: number, buf: RefBuffer, repeat?: boolean): void {
// fake - noop
}
}

View File

@ -1,51 +1,36 @@
screen.clear()
screen.print("PXT!", 10, 30, Draw.Quad)
brick.print("PXT!", 10, 30, Draw.Quad)
screen.drawRect(40, 40, 20, 10, Draw.Fill)
motors.setStatusLight(LightsPattern.Orange)
brick.drawRect(40, 40, 20, 10, Draw.Fill)
brick.setLight(LightsPattern.Orange)
screen.heart.doubled().draw(100, 50, Draw.Double | Draw.Transparent)
brick.heart.doubled().draw(100, 50, Draw.Double | Draw.Transparent)
sensors.buttonEnter.onEvent(ButtonEvent.Click, () => {
brick.buttonEnter.onEvent(ButtonEvent.Click, () => {
screen.clear()
})
sensors.buttonLeft.onEvent(ButtonEvent.Click, () => {
screen.drawRect(10, 70, 20, 10, Draw.Fill)
motors.setStatusLight(LightsPattern.Red)
screen.setFont(screen.microbitFont())
brick.buttonLeft.onEvent(ButtonEvent.Click, () => {
brick.drawRect(10, 70, 20, 10, Draw.Fill)
brick.setLight(LightsPattern.Red)
brick.setFont(brick.microbitFont())
})
sensors.buttonRight.onEvent(ButtonEvent.Click, () => {
screen.print("Right!", 10, 60)
brick.buttonRight.onEvent(ButtonEvent.Click, () => {
brick.print("Right!", 10, 60)
})
sensors.buttonDown.onEvent(ButtonEvent.Click, () => {
screen.print("Down! ", 10, 60)
brick.buttonDown.onEvent(ButtonEvent.Click, () => {
brick.print("Down! ", 10, 60)
})
sensors.buttonUp.onEvent(ButtonEvent.Click, () => {
screen.print("Up! ", 10, 60)
brick.buttonUp.onEvent(ButtonEvent.Click, () => {
brick.print("Up! ", 10, 60)
})
let num = 0
sensors.touchSensor1.onEvent(TouchSensorEvent.Bumped, () => {
screen.print("Click! " + num, 10, 60)
num++
})
sensors.remoteButtonTopLeft.onEvent(ButtonEvent.Click, () => {
screen.print("TOPLEFT " + num, 10, 60)
num++
})
sensors.remoteButtonTopRight.onEvent(ButtonEvent.Down, () => {
screen.print("TOPRIGH " + num, 10, 60)
num++
})
loops.forever(() => {
serial.writeDmesg()
loops.pause(100)

View File

@ -1,24 +1,34 @@
//% color="#68C3E2" weight=100
//% groups='["Light", "Buttons", "Screen"]'
//% color="#68C3E2" weight=100 icon="\uf106"
//% groups='["Buttons", "Screen"]'
//% labelLineWidth=0
namespace brick {
}
//% color="#C8509B" weight=95
//% color="#C8509B" weight=95 icon="\uf10f"
//% labelLineWidth=0
//% groups='["Ultrasonic Sensor", "Touch Sensor", "Color Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
//% groupIcons='["\uf101","\uf103","\uf102","","","\uf104"]'
namespace sensors {
}
//% color="#A5CA18" weight=90 icon="\uf185"
//% color="#A5CA18" weight=90 icon="\uf10d"
//% groups='["Motion", "Sensors", "Chassis"]'
//% labelLineWidth=0
namespace motors {
}
//% color="#D67923" weight=80
//% labelLineWidth=0
namespace behaviors {
}
//% color="#D67923" weight=80 icon="\uf10e"
namespace music {
}
//% color="#48150C"
//% color="#5F3109" icon="\uf107"
namespace control {
}

View File

@ -3,7 +3,8 @@
"description": "The EV3 library",
"files": [
"README.md",
"ns.ts"
"ns.ts",
"startup.ts"
],
"dependencies": {
"base": "file:../base",

4
libs/ev3/startup.ts Normal file
View File

@ -0,0 +1,4 @@
// This is the last thing executed before user code
// We pause for 100ms to give time to read sensor values, so they work in on_start block
loops.pause(100)

View File

@ -1,10 +1,10 @@
{
"sensors.GyroSensor.angle|block": "`icons.gyroSensor` %sensor|angle",
"sensors.GyroSensor.rate|block": "`icons.gyroSensor` %sensor|rotation rate",
"sensors.gyro1|block": "1",
"sensors.gyro2|block": "2",
"sensors.gyro3|block": "3",
"sensors.gyro4|block": "4",
"sensors.GyroSensor.angle|block": "%sensor|angle",
"sensors.GyroSensor.rate|block": "%sensor|rotation rate",
"sensors.gyro1|block": "gyro 1",
"sensors.gyro2|block": "gyro 2",
"sensors.gyro3|block": "gyro 3",
"sensors.gyro4|block": "gyro 4",
"{id:category}Sensors": "Sensors",
"{id:group}Gyro Sensor": "Gyro Sensor"
}

View File

@ -24,12 +24,11 @@ namespace sensors {
* @param sensor the gyroscope to query the request
*/
//% help=input/gyro/angle
//% block="`icons.gyroSensor` %sensor|angle"
//% block="%sensor|angle"
//% blockId=gyroGetAngle
//% parts="gyroscope"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=65 blockGap=8
//% group="Gyro Sensor"
angle(): number {
@ -42,12 +41,11 @@ namespace sensors {
* @param sensor the gyroscope to query the request
*/
//% help=input/gyro/rate
//% block="`icons.gyroSensor` %sensor|rotation rate"
//% block="%sensor|rotation rate"
//% blockId=gyroGetRate
//% parts="gyroscope"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=65 blockGap=8
//% group="Gyro Sensor"
rate(): number {
@ -56,15 +54,15 @@ namespace sensors {
}
}
//% fixedInstance whenUsed block="1" jres=icons.port1
//% fixedInstance whenUsed block="gyro 1" jres=icons.port1
export const gyro1: GyroSensor = new GyroSensor(1)
//% fixedInstance whenUsed block="2" weight=95 jres=icons.port2
//% fixedInstance whenUsed block="gyro 2" weight=95 jres=icons.port2
export const gyro2: GyroSensor = new GyroSensor(2)
//% fixedInstance whenUsed block="3" jres=icons.port3
//% fixedInstance whenUsed block="gyro 3" jres=icons.port3
export const gyro3: GyroSensor = new GyroSensor(3)
//% fixedInstance whenUsed block="4" jres=icons.port4
//% fixedInstance whenUsed block="gyro 4" jres=icons.port4
export const gyro4: GyroSensor = new GyroSensor(4)
}

View File

@ -1,9 +1,9 @@
{
"sensors.InfraredSensor.onEvent": "Registers code to run when an object is getting near.",
"sensors.InfraredSensor.onEvent|param|handler": "the code to run when detected",
"sensors.InfraredSensor.pauseUntil": "Waits for the event to occur",
"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.waitUntil": "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",

View File

@ -1,17 +1,17 @@
{
"InfraredSensorEvent.ObjectDetected|block": "object detected",
"InfraredSensorEvent.ObjectNear|block": "object near",
"sensors.InfraredSensor.onEvent|block": "on `icons.infraredSensor` %sensor|%event",
"sensors.InfraredSensor.proximity|block": "`icons.infraredSensor` %sensor|proximity",
"sensors.InfraredSensor.remoteCommand|block": "`icons.infraredSensor` %sensor|remote command",
"sensors.InfraredSensor.waitUntil|block": "wait until `icons.infraredSensor` %sensor| %event",
"sensors.RemoteInfraredBeaconButton.isPressed|block": "`icons.infraredSensor` %button|is pressed",
"sensors.RemoteInfraredBeaconButton.onEvent|block": "on `icons.infraredSensor` %button|%event",
"sensors.RemoteInfraredBeaconButton.wasPressed|block": "`icons.infraredSensor` %button|was pressed",
"sensors.infraredSensor1|block": "1",
"sensors.infraredSensor2|block": "2",
"sensors.infraredSensor3|block": "3",
"sensors.infraredSensor4|block": "4",
"sensors.InfraredSensor.onEvent|block": "on %sensor|%event",
"sensors.InfraredSensor.pauseUntil|block": "pause until %sensor| %event",
"sensors.InfraredSensor.proximity|block": "%sensor|proximity",
"sensors.InfraredSensor.remoteCommand|block": "%sensor|remote command",
"sensors.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed",
"sensors.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event",
"sensors.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed",
"sensors.infraredSensor1|block": "infrared 1",
"sensors.infraredSensor2|block": "infrared 2",
"sensors.infraredSensor3|block": "infrared 3",
"sensors.infraredSensor4|block": "infrared 4",
"sensors.remoteButtonBottomLeft|block": "bottom-left",
"sensors.remoteButtonBottomRight|block": "bottom-right",
"sensors.remoteButtonCenter|block": "center",

View File

@ -93,7 +93,7 @@ namespace sensors {
* @param button the remote button to query the request
*/
//% help=input/remote-infrared-beacon/is-pressed
//% block="`icons.infraredSensor` %button|is pressed"
//% block="%button|is pressed"
//% blockId=remoteButtonIsPressed
//% parts="remote"
//% blockNamespace=sensors
@ -108,11 +108,11 @@ namespace sensors {
* @param button the remote button to query the request
*/
//% help=input/remote-infrared-beacon/was-pressed
//% block="`icons.infraredSensor` %button|was pressed"
//% block="%button|was pressed"
//% blockId=remotebuttonWasPressed
//% parts="remote"
//% blockNamespace=sensors
//% weight=80 blockGap=8
//% weight=80
//% group="Remote Infrared Beacon"
wasPressed() {
return this.button.wasPressed();
@ -125,7 +125,7 @@ namespace sensors {
* @param body code to run when the event is raised
*/
//% help=input/remote-infrared-beacon/on-event
//% blockId=remotebuttonEvent block="on `icons.infraredSensor` %button|%event"
//% blockId=remotebuttonEvent block="on %button|%event"
//% parts="remote"
//% blockNamespace=sensors
//% weight=99 blockGap=8
@ -189,11 +189,9 @@ namespace sensors {
* @param handler the code to run when detected
*/
//% help=input/infrared/on
//% block="on `icons.infraredSensor` %sensor|%event"
//% block="on %sensor|%event"
//% blockId=infraredOn
//% parts="infraredsensor"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% weight=100 blockGap=8
//% group="Infrared Sensor"
@ -205,15 +203,13 @@ namespace sensors {
* Waits for the event to occur
*/
//% help=input/ultrasonic/wait
//% block="wait until `icons.infraredSensor` %sensor| %event"
//% block="pause until %sensor| %event"
//% blockId=infraredwait
//% parts="infraredsensor"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% weight=99 blockGap=8
//% group="Infrared Sensor"
waitUntil(event: InfraredSensorEvent) {
pauseUntil(event: InfraredSensorEvent) {
control.waitForEvent(this._id, event);
}
@ -222,11 +218,9 @@ namespace sensors {
* @param sensor the infrared sensor
*/
//% help=input/infrared/proximity
//% block="`icons.infraredSensor` %sensor|proximity"
//% block="%sensor|proximity"
//% blockId=infraredGetProximity
//% parts="infrared"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% weight=65 blockGap=8
//% group="Infrared Sensor"
@ -240,13 +234,11 @@ namespace sensors {
* @param sensor the infrared sensor
*/
//% help=input/infrared/remote-command
//% block="`icons.infraredSensor` %sensor|remote command"
//% block="%sensor|remote command"
//% blockId=infraredGetRemoteCommand
//% parts="infrared"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% weight=65 blockGap=8
//% weight=65
//% group="Infrared Sensor"
remoteCommand(): number {
this._setMode(IrSensorMode.RemoteControl)
@ -260,16 +252,16 @@ namespace sensors {
}
}
//% fixedInstance whenUsed block="1" jres=icons.port1
//% fixedInstance whenUsed block="infrared 1" jres=icons.port1
export const infraredSensor1: InfraredSensor = new InfraredSensor(1)
//% fixedInstance whenUsed block="2" jres=icons.port2
//% fixedInstance whenUsed block="infrared 2" jres=icons.port2
export const infraredSensor2: InfraredSensor = new InfraredSensor(2)
//% fixedInstance whenUsed block="3" jres=icons.port3
//% fixedInstance whenUsed block="infrared 3" jres=icons.port3
export const infraredSensor3: InfraredSensor = new InfraredSensor(3)
//% fixedInstance whenUsed block="4" jres=icons.port4
//% fixedInstance whenUsed block="infrared 4" jres=icons.port4
export const infraredSensor4: InfraredSensor = new InfraredSensor(4)

View File

@ -2,8 +2,6 @@
"Sound.buffer": "Returns the underlaying Buffer object.",
"Sound.play": "Play sound.",
"music": "Generation of music tones.",
"music._soundPicker": "A sound",
"music._soundPicker|param|sound": "the sound",
"music.beat": "Return the duration of a beat in milliseconds (the beat fraction).",
"music.beat|param|fraction": "the fraction of the current whole note, eg: BeatFraction.Half",
"music.changeTempoBy": "Change the tempo up or down by some amount of beats per minute (bpm).",
@ -26,5 +24,6 @@
"music.setTempo|param|bpm": "The new tempo in beats per minute, eg: 120",
"music.setVolume": "Set the output volume of the sound synthesizer.",
"music.setVolume|param|volume": "the volume 0...256, eg: 128",
"music.stopAllSounds": "Play a tone through the speaker for some amount of time.",
"music.tempo": "Return the tempo in beats per minute (bpm).\nTempo is the speed (bpm = beats per minute) at which notes play. The larger the tempo value, the faster the notes will play."
}

View File

@ -20,7 +20,6 @@
"Note.GSharp|block": "G#",
"SoundOutputDestination.Pin|block": "pin",
"SoundOutputDestination.Speaker|block": "speaker",
"music._soundPicker|block": "%sound",
"music.beat|block": "%fraction|beat",
"music.changeTempoBy|block": "change tempo by %value|(bpm)",
"music.noteFrequency|block": "%note",
@ -31,6 +30,7 @@
"music.ringTone|block": "ring tone|at %note=device_note",
"music.setTempo|block": "set tempo to %value|(bpm)",
"music.setVolume|block": "set volume %volume",
"music.stopAllSounds|block": "stop all sounds",
"music.tempo|block": "tempo (bpm)",
"music|block": "music",
"sounds.animalsCatPurr|block": "Animals cat purr",

View File

@ -163,6 +163,21 @@ void playTone(int frequency, int ms) {
sleep_ms(1);
}
/**
* Play a tone through the speaker for some amount of time.
*/
//% help=music/stop-all-sounds
//% blockId=music_stop_all_sounds block="stop all sounds"
//% parts="headphone"
//% blockNamespace=music
//% weight=97
void stopAllSounds() {
if (currentSample) {
samplePtr = currentSample->length;
}
_stopSound();
}
/** Makes a sound bound to a buffer in WAV format. */
//%
Sound fromWAV(Buffer buf) {

10
libs/music/shims.d.ts vendored
View File

@ -25,6 +25,16 @@ declare namespace music {
//% weight=76 blockGap=8 shim=music::playTone
function playTone(frequency: int32, ms: int32): void;
/**
* Play a tone through the speaker for some amount of time.
*/
//% help=music/stop-all-sounds
//% blockId=music_stop_all_sounds block="stop all sounds"
//% parts="headphone"
//% blockNamespace=music
//% weight=97 shim=music::stopAllSounds
function stopAllSounds(): void;
/** Makes a sound bound to a buffer in WAV format. */
//% shim=music::fromWAV
function fromWAV(buf: Buffer): Sound;

View File

@ -264,10 +264,12 @@ namespace music {
* @param sound the sound to play
*/
//% blockId=music_play_sound_effect_until_done block="play sound effect %sound|until done"
//% weight=98
//% weight=98 blockGap=8
export function playSoundEffectUntilDone(sound: Sound) {
if (!sound) return;
if (!sound || numSoundsPlaying >= soundsLimit) return;
numSoundsPlaying++;
sound.play();
numSoundsPlaying--;
}
/**
@ -276,7 +278,7 @@ namespace music {
*/
//% blockId=music_sound_picker block="%sound" shim=TD_ID
//% weight=0 blockHidden=1
export function _soundPicker(sound: Sound): Sound {
export function __soundPicker(sound: Sound): Sound {
return sound;
}
@ -285,7 +287,7 @@ namespace music {
* @param sound the sound to play
*/
//% blockId=music_play_sound_effect block="play sound effect %sound"
//% weight=99
//% weight=99 blockGap=8
export function playSoundEffect(sound: Sound) {
if (!sound || numSoundsPlaying >= soundsLimit) return;
numSoundsPlaying++;

35
libs/tests/README.md Normal file
View File

@ -0,0 +1,35 @@
# tests
A unit test framework
## Defining tests
Tests are registered as event handlers. They will automatically run once ``on start`` is finished.
```blocks
tests.test("lgB set speed 10", () => {
motors.largeB.setSpeed(10);
loops.pause(100)
tests.assertClose("speedB", 10, motors.largeB.speed(), 2)
});
```
## Assertions
The library has various asserts that will register fault. Note that since exceptions are not available, assertion failure **do not** stop the program execution.
* **assert** checks a boolean condition
```blocks
tests.assert("speed positive", motors.largeB.speed() > 0)
```
* **assert close** checks that a numberical value is within a particular range
```blocks
tests.assertClose("speed", motors.largeB.speed(), 10, 2)
```
```package
tests
```

View File

@ -0,0 +1,11 @@
{
"TestEvent": "Various test event in the execution cycle",
"tests": "A Unit tests framework",
"tests.assert": "Checks a boolean condition",
"tests.assertClose": "Checks that 2 values are close to each other",
"tests.assertClose|param|actual": "what the value was",
"tests.assertClose|param|expected": "what the value should be",
"tests.assertClose|param|tolerance": "the acceptable error margin, eg: 5",
"tests.onEvent": "Registers code to be called at various points in the test execution",
"tests.test": "Registers a test to run"
}

View File

@ -0,0 +1,11 @@
{
"TestEvent.RunSetUp|block": "run setup",
"TestEvent.RunTearDown|block": "run teardown",
"TestEvent.TestSetUp|block": "test setup",
"TestEvent.TestTearDown|block": "test teardown",
"tests.assertClose|block": "assert %message|%expected|close to %actual|by %tolerance",
"tests.assert|block": "assert %message|%condition",
"tests.test|block": "test %name",
"tests|block": "tests",
"{id:category}Tests": "Tests"
}

6
libs/tests/pxt.json Normal file
View File

@ -0,0 +1,6 @@
{
"additionalFilePath": "../../node_modules/pxt-common-packages/libs/tests",
"dependencies": {
"core": "file:../ev3"
}
}

View File

@ -0,0 +1,12 @@
// EV3 specific test functions
tests.onEvent(TestEvent.RunSetUp, function() {
console.sendToScreen();
})
tests.onEvent(TestEvent.TestSetUp, function() {
motors.stopAllMotors();
motors.resetAllMotors();
})
tests.onEvent(TestEvent.TestTearDown, function() {
motors.stopAllMotors();
motors.resetAllMotors();
})

View File

@ -3,6 +3,6 @@
"sensors.TouchSensor.isPressed": "Check if touch sensor is touched.",
"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.TouchSensor.waitUntil": "Wait until the touch sensor is touched",
"sensors.TouchSensor.pauseUntil": "Wait until the touch sensor is touched",
"sensors.TouchSensor.wasPressed": "Check if touch sensor is touched since it was last checked."
}

View File

@ -2,14 +2,14 @@
"TouchSensorEvent.Bumped|block": "bumped",
"TouchSensorEvent.Pressed|block": "pressed",
"TouchSensorEvent.Released|block": "released",
"sensors.TouchSensor.isPressed|block": "`icons.touchSensor` %sensor|is pressed",
"sensors.TouchSensor.onEvent|block": "on `icons.touchSensor` %sensor|%event",
"sensors.TouchSensor.waitUntil|block": "wait until `icons.touchSensor` %sensor|%event",
"sensors.TouchSensor.wasPressed|block": "`icons.touchSensor` %sensor|was pressed",
"sensors.touchSensor1|block": "1",
"sensors.touchSensor2|block": "2",
"sensors.touchSensor3|block": "3",
"sensors.touchSensor4|block": "4",
"sensors.TouchSensor.isPressed|block": "%sensor|is pressed",
"sensors.TouchSensor.onEvent|block": "on %sensor|%event",
"sensors.TouchSensor.pauseUntil|block": "pause until %sensor|%event",
"sensors.TouchSensor.wasPressed|block": "%sensor|was pressed",
"sensors.touchSensor1|block": "touch 1",
"sensors.touchSensor2|block": "touch 2",
"sensors.touchSensor3|block": "touch 3",
"sensors.touchSensor4|block": "touch 4",
"{id:category}Sensors": "Sensors",
"{id:group}Touch Sensor": "Touch Sensor"
}

View File

@ -42,11 +42,10 @@ namespace sensors {
* @param body code to run when the event is raised
*/
//% help=input/touch-sensor/on-event
//% blockId=touchEvent block="on `icons.touchSensor` %sensor|%event"
//% blockId=touchEvent block="on %sensor|%event"
//% parts="touch"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=99 blockGap=8
//% group="Touch Sensor"
onEvent(ev: TouchSensorEvent, body: () => void) {
@ -58,16 +57,15 @@ namespace sensors {
* @param sensor the touch sensor that needs to be clicked or used
* @param event the kind of button gesture that needs to be detected
*/
//% help=input/touch-sensor/wait-until
//% blockId=touchWaitUntil block="wait until `icons.touchSensor` %sensor|%event"
//% help=input/touch-sensor/pause-until
//% blockId=touchWaitUntil block="pause until %sensor|%event"
//% parts="touch"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=98 blockGap=8
//% group="Touch Sensor"
waitUntil(ev: TouchSensorEvent) {
this.button.waitUntil(<ButtonEvent><number>ev);
pauseUntil(ev: TouchSensorEvent) {
this.button.pauseUntil(<ButtonEvent><number>ev);
}
/**
@ -75,13 +73,12 @@ namespace sensors {
* @param sensor the port to query the request
*/
//% help=input/touch-sensor/is-pressed
//% block="`icons.touchSensor` %sensor|is pressed"
//% block="%sensor|is pressed"
//% blockId=touchIsPressed
//% parts="touch"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% weight=81 blockGap=8
//% sensor.fieldEditor="ports"
//% weight=81
//% group="Touch Sensor"
isPressed() {
return this.button.isPressed();
@ -92,12 +89,11 @@ namespace sensors {
* @param sensor the port to query the request
*/
//% help=input/touch-sensor/was-pressed
//% block="`icons.touchSensor` %sensor|was pressed"
//% block="%sensor|was pressed"
//% blockId=touchWasPressed
//% parts="touch"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=81 blockGap=8
//% group="Touch Sensor"
wasPressed() {
@ -105,12 +101,12 @@ namespace sensors {
}
}
//% whenUsed block="1" weight=95 fixedInstance jres=icons.port1
//% whenUsed block="touch 1" weight=95 fixedInstance jres=icons.port1
export const touchSensor1: TouchSensor = new TouchSensor(1)
//% whenUsed block="2" weight=95 fixedInstance jres=icons.port2
//% whenUsed block="touch 2" weight=95 fixedInstance jres=icons.port2
export const touchSensor2: TouchSensor = new TouchSensor(2)
//% whenUsed block="3" weight=95 fixedInstance jres=icons.port3
//% whenUsed block="touch 3" weight=95 fixedInstance jres=icons.port3
export const touchSensor3: TouchSensor = new TouchSensor(3)
//% whenUsed block="4" weight=95 fixedInstance jres=icons.port4
//% whenUsed block="touch 4" weight=95 fixedInstance jres=icons.port4
export const touchSensor4: TouchSensor = new TouchSensor(4)
}

11
libs/tsconfig.json Normal file
View File

@ -0,0 +1,11 @@
{
"compilerOptions": {
"target": "es5",
"noImplicitAny": true,
"noImplicitReturns": true,
"rootDir": ".",
"newLine": "LF",
"sourceMap": false,
"types": []
}
}

View File

@ -2,5 +2,5 @@
"sensors.UltraSonicSensor.distance": "Gets the distance from the sonar in centimeters",
"sensors.UltraSonicSensor.onEvent": "Registers code to run when the given color is close",
"sensors.UltraSonicSensor.onEvent|param|handler": "the code to run when detected",
"sensors.UltraSonicSensor.waitUntil": "Waits for the event to occur"
"sensors.UltraSonicSensor.pauseUntil": "Waits for the event to occur"
}

View File

@ -2,13 +2,13 @@
"UltrasonicSensorEvent.ObjectDetected|block": "object detected",
"UltrasonicSensorEvent.ObjectFar|block": "object far",
"UltrasonicSensorEvent.ObjectNear|block": "object near",
"sensors.UltraSonicSensor.distance|block": "`icons.ultrasonicSensor` %sensor|distance",
"sensors.UltraSonicSensor.onEvent|block": "on `icons.ultrasonicSensor` %sensor|%event",
"sensors.UltraSonicSensor.waitUntil|block": "wait until `icons.ultrasonicSensor` %sensor| %event",
"sensors.ultrasonic1|block": "1",
"sensors.ultrasonic2|block": "2",
"sensors.ultrasonic3|block": "3",
"sensors.ultrasonic4|block": "4",
"sensors.UltraSonicSensor.distance|block": "%sensor|distance",
"sensors.UltraSonicSensor.onEvent|block": "on %sensor|%event",
"sensors.UltraSonicSensor.pauseUntil|block": "pause until %sensor| %event",
"sensors.ultrasonic1|block": "ultrasonic 1",
"sensors.ultrasonic2|block": "ultrasonic 2",
"sensors.ultrasonic3|block": "ultrasonic 3",
"sensors.ultrasonic4|block": "ultrasonic 4",
"{id:category}Sensors": "Sensors",
"{id:group}Ultrasonic Sensor": "Ultrasonic Sensor"
}

View File

@ -25,7 +25,7 @@ namespace sensors {
}
_query(): number {
return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
return ((this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff) / 10) >> 0; // range is 0..2550, in 0.1 cm increments.
}
_update(prev: number, curr: number) {
@ -43,11 +43,10 @@ namespace sensors {
*/
//% help=input/ultrasonic/on
//% blockId=ultrasonicOn
//% block="on `icons.ultrasonicSensor` %sensor|%event"
//% block="on %sensor|%event"
//% parts="ultrasonicsensor"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=100 blockGap=8
//% group="Ultrasonic Sensor"
onEvent(event: UltrasonicSensorEvent, handler: () => void) {
@ -58,15 +57,14 @@ namespace sensors {
* Waits for the event to occur
*/
//% help=input/ultrasonic/wait
//% block="wait until `icons.ultrasonicSensor` %sensor| %event"
//% block="pause until %sensor| %event"
//% blockId=ultrasonicWait
//% parts="ultrasonicsensor"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% sensor.fieldEditor="ports"
//% weight=99 blockGap=8
//% group="Ultrasonic Sensor"
waitUntil(event: UltrasonicSensorEvent) {
pauseUntil(event: UltrasonicSensorEvent) {
control.waitForEvent(this._id, event);
}
@ -75,30 +73,29 @@ namespace sensors {
* @param sensor the ultrasonic sensor port
*/
//% help=input/ultrasonic/distance
//% block="`icons.ultrasonicSensor` %sensor|distance"
//% block="%sensor|distance"
//% blockId=sonarGetDistance
//% parts="ultrasonicsensor"
//% sensor.fieldEditor="imagedropdown"
//% sensor.fieldOptions.columns=4
//% blockNamespace=sensors
//% weight=65 blockGap=8
//% sensor.fieldEditor="ports"
//% weight=65
//% group="Ultrasonic Sensor"
distance(): number {
// it supposedly also has an inch mode, but we stick to cm
this._setMode(0)
return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff; // range is 0..255
return this._query();
}
}
//% fixedInstance whenUsed block="1" jres=icons.port1
//% fixedInstance whenUsed block="ultrasonic 1" jres=icons.port1
export const ultrasonic1: UltraSonicSensor = new UltraSonicSensor(1)
//% fixedInstance whenUsed block="4" jres=icons.port4
export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
//% fixedInstance whenUsed block="2" jres=icons.port2
//% fixedInstance whenUsed block="ultrasonic 2" jres=icons.port2
export const ultrasonic2: UltraSonicSensor = new UltraSonicSensor(2)
//% fixedInstance whenUsed block="3" jres=icons.port3
//% fixedInstance whenUsed block="ultrasonic 3" jres=icons.port3
export const ultrasonic3: UltraSonicSensor = new UltraSonicSensor(3)
//% fixedInstance whenUsed block="ultrasonic 4" jres=icons.port4
export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
}

4683
package-lock.json generated Normal file

File diff suppressed because it is too large Load Diff

View File

@ -1,6 +1,6 @@
{
"name": "pxt-ev3",
"version": "0.0.39",
"version": "0.0.52",
"description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
"private": true,
"keywords": [
@ -39,11 +39,13 @@
"semantic-ui-less": "^2.2.4",
"@types/bluebird": "2.0.33",
"@types/jquery": "3.2.16",
"@types/node": "8.0.53"
"@types/marked": "0.3.0",
"@types/node": "8.0.53",
"webfonts-generator": "^0.4.0"
},
"dependencies": {
"pxt-common-packages": "0.14.12",
"pxt-core": "3.0.1"
"pxt-common-packages": "0.15.3",
"pxt-core": "3.0.5"
},
"scripts": {
"test": "node node_modules/pxt-core/built/pxt.js travis"

View File

@ -15,12 +15,14 @@
"libs/ultrasonic-sensor",
"libs/infrared-sensor",
"libs/gyro-sensor",
"libs/ev3"
"libs/ev3",
"libs/tests",
"libs/behaviors"
],
"simulator": {
"autoRun": true,
"streams": true,
"aspectRatio": 0.67,
"aspectRatio": 0.5,
"parts": false,
"enableTrace": true,
"boardDefinition": {
@ -52,8 +54,10 @@
"serial": {
"vendorId": "0x0694",
"productId": "0x0005",
"rawHID": true
},
"rawHID": true,
"useEditor": true,
"log": true
},
"runtime": {
"mathBlocks": true,
"loopsBlocks": true,
@ -91,6 +95,7 @@
"privacyUrl": "https://go.microsoft.com/fwlink/?LinkId=521839",
"termsOfUseUrl": "https://go.microsoft.com/fwlink/?LinkID=206977",
"githubUrl": "https://github.com/Microsoft/pxt-ev3",
"betaUrl": "https://lego.makecode.com/",
"boardName": "LEGO Mindstorms EV3 Brick",
"selectLanguage": true,
"highContrast": true,
@ -129,13 +134,23 @@
"logic": "#1E5AA8",
"math": "#9DC3F7",
"variables": "#B40000",
"text": "#F0890A",
"text": "#FCAC00",
"advanced": "#969696",
"functions": "#064597",
"arrays": "#890058"
"functions": "#19325A",
"arrays": "#901F76"
},
"blockIcons": {
"loops": "\uf10b",
"logic": "\uf10a",
"math": "\uf10c",
"variables": "\uf111",
"text": "\uf110",
"functions": "\uf108",
"arrays": "\uf109"
},
"monacoColors": {
"editor.background": "#ecf6ff"
}
}
},
"ignoreDocsErrors": true
}

View File

@ -22,102 +22,40 @@ namespace pxsim {
D13
}
export class DalBoard extends CoreBoard implements
AccelerometerBoard,
CommonBoard,
// LightBoard,
LightSensorBoard,
MicrophoneBoard,
MusicBoard,
SlideSwitchBoard,
TemperatureBoard,
InfraredBoard,
CapTouchBoard {
// state & update logic for component services
// neopixelState: CommonNeoPixelState;
buttonState: EV3ButtonState;
slideSwitchState: SlideSwitchState;
lightSensorState: AnalogSensorState;
thermometerState: AnalogSensorState;
thermometerUnitState: number;
microphoneState: AnalogSensorState;
edgeConnectorState: EdgeConnectorState;
capacitiveSensorState: CapacitiveSensorState;
accelerometerState: AccelerometerState;
audioState: AudioState;
touchButtonState: TouchButtonState;
irState: InfraredState;
lightState: EV3LightState;
screenState: EV3ScreenState;
export class EV3Board extends CoreBoard {
view: SVGSVGElement;
outputState: EV3OutputState;
analogState: EV3AnalogState;
uartState: EV3UArtState;
motorState: EV3MotorState;
screenState: EV3ScreenState;
audioState: AudioState;
inputNodes: SensorNode[] = [];
brickNode: BrickNode;
outputNodes: MotorNode[] = [];
private motorMap: pxt.Map<number> = {
0x01: 0,
0x02: 1,
0x04: 2,
0x08: 3
}
constructor() {
super()
this.bus.setNotify(DAL.DEVICE_ID_NOTIFY, DAL.DEVICE_ID_NOTIFY_ONE);
//components
this.brickNode = new BrickNode();
this.builtinParts["buttons"] = this.buttonState = new EV3ButtonState();
this.builtinParts["light"] = this.lightState = new EV3LightState();
this.builtinParts["screen"] = this.screenState = new EV3ScreenState();
this.builtinParts["audio"] = this.audioState = new AudioState();
/*this.builtinParts["neopixel"] = this.neopixelState = new CommonNeoPixelState();
this.builtinParts["buttonpair"] = this.buttonState = new CommonButtonState();
this.builtinParts["switch"] = this.slideSwitchState = new SlideSwitchState();
this.builtinParts["lightsensor"] = this.lightSensorState = new AnalogSensorState(DAL.DEVICE_ID_LIGHT_SENSOR, 0, 255);
this.builtinParts["thermometer"] = this.thermometerState = new AnalogSensorState(DAL.DEVICE_ID_THERMOMETER, -5, 50);
this.builtinParts["soundsensor"] = this.microphoneState = new AnalogSensorState(DAL.DEVICE_ID_TOUCH_SENSOR + 1, 0, 255);
this.builtinParts["capacitivesensor"] = this.capacitiveSensorState = new CapacitiveSensorState({
0: 0,
1: 1,
2: 2,
3: 3,
6: 4,
9: 5,
10: 6,
12: 7
});
this.builtinParts["accelerometer"] = this.accelerometerState = new AccelerometerState(runtime);
this.builtinParts["edgeconnector"] = this.edgeConnectorState = new EdgeConnectorState({
pins: [
pxsim.CPlayPinName.A0,
pxsim.CPlayPinName.A1,
pxsim.CPlayPinName.A2,
pxsim.CPlayPinName.A3,
pxsim.CPlayPinName.A4,
pxsim.CPlayPinName.A5,
pxsim.CPlayPinName.A6,
pxsim.CPlayPinName.A7,
pxsim.CPlayPinName.A8,
pxsim.CPlayPinName.A9,
pxsim.CPlayPinName.D4,
pxsim.CPlayPinName.D5,
pxsim.CPlayPinName.D6,
pxsim.CPlayPinName.D7,
pxsim.CPlayPinName.D8,
pxsim.CPlayPinName.D13
]
});
this.builtinParts["microservo"] = this.edgeConnectorState;
this.builtinVisuals["microservo"] = () => new visuals.MicroServoView();
this.builtinPartVisuals["microservo"] = (xy: visuals.Coord) => visuals.mkMicroServoPart(xy);
this.touchButtonState = new TouchButtonState([
pxsim.CPlayPinName.A1,
pxsim.CPlayPinName.A2,
pxsim.CPlayPinName.A3,
pxsim.CPlayPinName.A4,
pxsim.CPlayPinName.A5,
pxsim.CPlayPinName.A6,
pxsim.CPlayPinName.A7
]);
this.builtinParts["ir"] = this.irState = new InfraredState();*/
this.outputState = new EV3OutputState();
this.analogState = new EV3AnalogState();
this.uartState = new EV3UArtState();
this.motorState = new EV3MotorState();
this.screenState = new EV3ScreenState();
this.audioState = new AudioState();
}
receiveMessage(msg: SimulatorMessage) {
@ -134,11 +72,6 @@ namespace pxsim {
// TODO
break;
}
case "irpacket": {
let ev = <SimulatorInfraredPacketMessage>msg;
this.irState.receive(new RefBuffer(ev.packet));
break;
}
}
}
@ -168,6 +101,9 @@ namespace pxsim {
document.body.innerHTML = ""; // clear children
document.body.appendChild(this.view = viewHost.getView() as SVGSVGElement);
this.inputNodes = [];
this.outputNodes = [];
return Promise.resolve();
}
@ -175,18 +111,59 @@ namespace pxsim {
return svg.toDataUri(new XMLSerializer().serializeToString(this.view));
}
//defaultNeopixelPin() {
// return this.edgeConnectorState.getPin(CPlayPinName.D8);
//}
getBrickNode() {
return this.brickNode;
}
getDefaultPitchPin() {
return this.edgeConnectorState.getPin(CPlayPinName.D6);
motorUsed(port:number, large: boolean) {
for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
const p = 1 << i;
if (port & p) {
const motorPort = this.motorMap[p];
if (!this.outputNodes[motorPort])
this.outputNodes[motorPort] = new MotorNode(motorPort, large);
}
}
}
getMotor(port: number, large?: boolean): MotorNode[] {
const r = [];
for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
const p = 1 << i;
if (port & p) {
const motorPort = this.motorMap[p];
const outputNode = this.outputNodes[motorPort];
if (outputNode)
r.push(outputNode);
}
}
return r;
}
getMotors() {
return this.outputNodes;
}
getSensor(port: number, type: number): SensorNode {
if (!this.inputNodes[port]) {
switch (type) {
case DAL.DEVICE_TYPE_GYRO: this.inputNodes[port] = new GyroSensorNode(port); break;
case DAL.DEVICE_TYPE_COLOR: this.inputNodes[port] = new ColorSensorNode(port); break;
case DAL.DEVICE_TYPE_TOUCH: this.inputNodes[port] = new TouchSensorNode(port); break;
case DAL.DEVICE_TYPE_ULTRASONIC: this.inputNodes[port] = new UltrasonicSensorNode(port); break;
}
}
return this.inputNodes[port];
}
getInputNodes() {
return this.inputNodes;
}
}
export function initRuntimeWithDalBoard() {
U.assert(!runtime.board);
let b = new DalBoard();
let b = new EV3Board();
runtime.board = b;
runtime.postError = (e) => {
// TODO
@ -194,6 +171,10 @@ namespace pxsim {
}
}
export function ev3board(): EV3Board {
return runtime.board as EV3Board;
}
if (!pxsim.initCurrentRuntime) {
pxsim.initCurrentRuntime = initRuntimeWithDalBoard;
}

View File

@ -1,91 +0,0 @@
/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
/// <reference path="../node_modules/pxt-core/built/pxtrunner.d.ts"/>
//HACK: allows instructions.html to access pxtblocks without requiring simulator.html to import blocks as well
if (!(<any>window).pxt) (<any>window).pxt = {};
import pxtrunner = pxt.runner;
import pxtdocs = pxt.docs;
namespace pxsim.instructions {
export function drawInstructions() {
pxsim.visuals.mkBoardView = (opts: pxsim.visuals.BoardViewOptions): pxsim.visuals.BoardView => {
return new visuals.EV3BoardSvg({
runtime: runtime,
theme: visuals.randomTheme(),
disableTilt: false,
wireframe: opts.wireframe,
});
}
let getQsVal = parseQueryString();
//project name
let name = getQsVal("name") || "Untitled";
// board def
const boardDef = JSON.parse(getQsVal("board")) as pxsim.BoardDefinition;
//parts list
let parts = (getQsVal("parts") || "").split(" ");
parts.sort();
// parts definitions
let partDefinitions = JSON.parse(getQsVal("partdefs") || "{}") as pxsim.Map<PartDefinition>
//fn args
let fnArgs = JSON.parse((getQsVal("fnArgs") || "{}"));
//project code
let tsCode = getQsVal("code");
let tsPackage = getQsVal("package") || "";
let codeSpinnerDiv = document.getElementById("proj-code-spinner");
let codeContainerDiv = document.getElementById("proj-code-container");
if (tsCode) {
//we use the docs renderer to decompile the code to blocks and render it
//TODO: render the blocks code directly
let md =
`\`\`\`blocks
${tsCode}
\`\`\`
\`\`\`package
${tsPackage}
\`\`\`
`
pxtdocs.requireMarked = function () { return (<any>window).marked; }
pxtrunner.renderMarkdownAsync(codeContainerDiv, md)
.done(function () {
let codeSvg = $("#proj-code-container svg");
if (codeSvg.length > 0) {
//code rendered successfully as blocks
codeSvg.css("width", "inherit");
codeSvg.css("height", "inherit");
//takes the svg out of the wrapper markdown
codeContainerDiv.innerHTML = "";
codeContainerDiv.appendChild(codeSvg[0]);
} else {
//code failed to convert to blocks, display as typescript instead
codeContainerDiv.innerText = tsCode;
}
$(codeContainerDiv).show();
$(codeSpinnerDiv).hide();
});
}
if (name)
$("#proj-title").text(name);
//init runtime
if (!pxsim.initCurrentRuntime)
pxsim.initCurrentRuntime = initRuntimeWithDalBoard;
renderParts({
name,
boardDef,
parts,
partDefinitions,
fnArgs
})
}
}

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