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0886a5d4e1 |
@ -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>;
|
||||
|
BIN
docs/static/MC-LEGO-loader-eyes.gif
vendored
Normal file
After Width: | Height: | Size: 69 KiB |
90
docs/static/fonts/icons/iconfont.css
vendored
Normal file
@ -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";
|
||||
}
|
BIN
docs/static/fonts/icons/iconfont.eot
vendored
Normal file
84
docs/static/fonts/icons/iconfont.svg
vendored
Normal file
@ -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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||||
<glyph glyph-name="ultrasonic"
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||||
unicode=""
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||||
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<glyph glyph-name="color"
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||||
unicode=""
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<glyph glyph-name="touch"
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||||
unicode=""
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||||
<glyph glyph-name="gyro"
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||||
unicode=""
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||||
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||||
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||||
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||||
<glyph glyph-name="brick"
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||||
unicode=""
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||||
horiz-adv-x="40" d=" M34.3 0.9H5.7V39.1H34.4V0.9zM10.4 32.7V18.4H29.6V32.7H10.4z" />
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||||
<glyph glyph-name="controls"
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||||
unicode=""
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||||
horiz-adv-x="40" d=" M6.1 33H9.6V5.2H6.1V33z M18.3 33H21.7V5.2H18.3V33z M30.4 33H33.9V5.2H30.4V33z M2.6 15.7H13V7H2.6V15.7z M14.8 31.3H25.2V22.6H14.8V31.3z M27 22.6H37.4V13.9H27V22.6z" />
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||||
<glyph glyph-name="functions"
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||||
unicode=""
|
||||
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||||
<glyph glyph-name="list"
|
||||
unicode=""
|
||||
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|
||||
<glyph glyph-name="logic"
|
||||
unicode=""
|
||||
horiz-adv-x="40" d=" M2.8 14.1H7.4C10 14.2 12.2 16 13.1 18.6C15 23.1 18.3 31.3 23.7 31.3S29.8 31.3 29.8 31.3V35.8L36.9 28.3L29.8 21.5V26.4H24.9C22.3 25.7 20.2 24 19.4 21.5C17.3 17 15.2 9.4 8.2 9.2C5.1 9.2 3 9.2 3 9.2V14.1z M2.8 31.1V26.2H8.2C8.2 26.2 11.4 26.2 13.1 22.1C13.8 23.8 14.7 25.4 15.7 26.9C15.7 26.9 12.2 30.9 8.4 30.9S2.8 31.1 2.8 31.1z M19.5 18.4C19.5 18.4 21.8 13.9 24.4 13.9H30V18.4L37.3 11.3L30 4.2V9H23.7C23.7 9 20.2 9 16.9 13.4C18 14.9 18.8 16.7 19.5 18.4z" />
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<glyph glyph-name="loops"
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||||
unicode=""
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||||
horiz-adv-x="40" d=" M6.3 12.7C4.5 15.2 2.6 17.4 0.9 20H4.5C4.5 24.2 6.3 28.4 9.2 31.3C11.3 33.4 13.7 34.8 16.7 35.3C21.9 36.6 27.3 35 31.1 31.2C30.3 30.3 29.4 29.4 28.7 28.7C24.2 32.6 19.3 33.3 14.1 30.5C10.3 28.4 8.2 24.4 8.2 20.2H11.8C9.7 17.6 7.8 15 6.3 12.7z M32.2 20H28.5C30.4 22.5 32.2 24.7 33.9 27.3C35.8 24.9 37.6 22.6 39.3 20H35.6C35.6 15.7 33.7 11.5 30.6 8.6C28.5 6.6 26.1 5.3 23.3 4.7C18.1 3.5 12.7 5.1 8.9 8.9L11.3 11.3C15.6 7.5 20.7 6.6 25.9 9.6C29.9 11.7 32.2 15.7 32.2 20z" />
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||||
<glyph glyph-name="math"
|
||||
unicode=""
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||||
horiz-adv-x="40" d=" M15.2 5.3C14.9 4.9 14.2 4.2 13.8 3.9L9.3 8.4C7.6 6.7 6.2 5.3 4.8 3.9C4.4 4.2 3.8 4.9 3.4 5.3L7.9 9.8C6.2 11.5 4.8 12.9 3.4 14.3C3.8 14.7 4.4 15.4 4.8 15.7L9.3 11.2L13.8 15.7C14.2 15.4 14.9 14.7 15.2 14.3L10.7 9.8C12.1 8.2 13.7 6.7 15.2 5.3z M1.5 28V30H7.9V36.4C8.6 36.4 9.1 36.4 9.8 36.4V30H16.3V28H9.8V21.6H7.8V28H1.5z M38.4 10.7H22V14.1H38.4V10.7z M38.4 7.2V3.7H22V7.2H38.4z M38.4 31V27.5H22V31H38.4z" />
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||||
<glyph glyph-name="motors"
|
||||
unicode=""
|
||||
horiz-adv-x="40" d=" M28.9 25.8C27.5 24.4 25.9 22.9 24.5 21.5H35.7V32.6L32.2 29.1C29.6 32.3 25.9 34.3 21.8 34.9C18.3 35.4 14.6 34.5 11.7 32.6C4.2 28.1 1.9 18.3 6.5 10.9S20.7 1.1 28.2 5.6C30.8 7.2 32.7 9.5 34.1 12.1C32.7 12.6 31.3 13.3 29.9 13.8C28.5 11 25.9 9 23 8.1C20.7 7.4 18.3 7.6 16 8.4C10.3 10.7 7.3 17.1 9.4 22.9C10.6 26.3 13.6 29 17.1 29.8C21.6 31.2 26.3 29.5 28.9 25.8z M16.7 19C16.7 17.1 18.3 15.7 20 15.7S23.3 17.3 23.3 19C23.3 21 21.8 22.3 20 22.3C18.1 22.5 16.7 21 16.7 19C16.7 19 16.7 19 16.7 19z" />
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<glyph glyph-name="music"
|
||||
unicode=""
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||||
horiz-adv-x="40" d=" M24.2 17.7C27.1 17.2 29.9 15.7 31.7 13.2C32.5 13.2 33.4 13.2 33.4 13.2S36 20.9 30.3 26.3S13.4 31.7 9.2 26.3C6.3 22.6 5.2 17.6 6.8 13.2C7.3 13.2 7.7 13.2 8.2 13.2C8.2 13.2 11.1 17.6 15.8 17.7C15.7 10.1 15.7 3.5 15.7 3.5C12.3 4.2 9.6 6.3 8 9.4C4.5 10.1 1.7 13.2 1.7 17C1.7 28.3 10.3 34.8 20 34.8S38.8 27.3 38.1 17C37.7 9.9 31.8 9.4 31.8 9.4C30.4 6.3 27.7 4 24.3 3.5C24.2 11.3 24.2 17.7 24.2 17.7z" />
|
||||
<glyph glyph-name="sensors"
|
||||
unicode=""
|
||||
horiz-adv-x="40" d=" M20 36.9C10.6 36.9 3 29.2 3 19.8C3 10.4 10.6 2.8 20 2.8S37 10.4 37 19.8C36.9 29.4 29.4 36.9 20 36.9zM20 8.2C13.4 8.2 8.2 13.6 8.2 20S13.6 31.8 20 31.8S31.8 26.4 31.8 20S26.6 8.2 20 8.2z M13.2 20C13.2 16.3 16.3 13.2 20 13.2C23.7 13.2 26.8 16.3 26.8 20C26.8 23.7 23.7 26.8 20 26.8C16.3 26.8 13.2 23.7 13.2 20z" />
|
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<glyph glyph-name="text"
|
||||
unicode=""
|
||||
horiz-adv-x="40" d=" M23.1 30.6V2.8H16.5V30.6H7.7V36.7H32.3V30.6H23.1z" />
|
||||
<glyph glyph-name="variables"
|
||||
unicode=""
|
||||
horiz-adv-x="40" d=" M36.8 12V7.8H3.4V12H36.8z M36.8 22.1V17.9H3.4V22.1H36.8z M36.7 32.2V28H3.3V32.2H36.7z" />
|
||||
<glyph glyph-name="advancedcollapsed"
|
||||
unicode=""
|
||||
horiz-adv-x="40" d=" M39.7 28.2L36.2 31.5L20 15.3L3.8 31.5L0.3 28.2L18.3 10.3L18.3 10.3L20 8.5L20.5 9L20.5 9z" />
|
||||
<glyph glyph-name="advancedexpanded"
|
||||
unicode=""
|
||||
horiz-adv-x="40" d=" M39.3 12L21.7 29.6L21.7 29.6L20 31.3L19.5 30.8L19.5 30.8L0.7 12L4 8.7L20 24.7L36 8.7z" />
|
||||
<glyph glyph-name="cancel"
|
||||
unicode=""
|
||||
horiz-adv-x="40" d=" M33 29.6L29.4 33.2L20.2 24L11 33.2L7.3 29.6L16.5 20.3L7.3 11.1L11 7.3L20.2 16.5L29.4 7.3L33 11.1L23.8 20.3z" />
|
||||
<glyph glyph-name="check"
|
||||
unicode=""
|
||||
horiz-adv-x="40" d=" M33.7 32.9L15.3 14.4L7.5 22.3L3.8 18.4L11.7 10.8L11.7 10.8L15.3 7.1L37.4 29.2z" />
|
||||
<glyph glyph-name="download"
|
||||
unicode=""
|
||||
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=""
|
||||
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" />
|
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<glyph glyph-name="blocks"
|
||||
unicode=""
|
||||
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 Width: | Height: | Size: 15 KiB |
BIN
docs/static/fonts/icons/iconfont.ttf
vendored
Normal file
BIN
docs/static/fonts/icons/iconfont.woff
vendored
Normal file
BIN
docs/static/fonts/icons/iconfont.woff2
vendored
Normal file
133
editor/deploy.ts
Normal file
@ -0,0 +1,133 @@
|
||||
/// <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)
|
||||
})
|
||||
}
|
@ -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
editor/field_images.ts
Normal file
@ -0,0 +1,114 @@
|
||||
/// <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
@ -0,0 +1,147 @@
|
||||
/// <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');
|
||||
};
|
||||
}
|
@ -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
|
||||
}
|
||||
}
|
After Width: | Height: | Size: 375 KiB |
BIN
legoresources/MC22122017/01b - MakeCode - basicdesign@2x.png
Normal file
After Width: | Height: | Size: 384 KiB |
After Width: | Height: | Size: 383 KiB |
After Width: | Height: | Size: 418 KiB |
BIN
legoresources/MC22122017/02a - MakeCode - portselector@2x.png
Normal file
After Width: | Height: | Size: 386 KiB |
BIN
legoresources/MC22122017/03a - MakeCode - all elements@2x.png
Normal file
After Width: | Height: | Size: 442 KiB |
BIN
legoresources/MC22122017/03b - MakeCode - motorsync@2x.png
Normal file
After Width: | Height: | Size: 404 KiB |
BIN
legoresources/MC22122017/04a - MakeCode - medmotor@2x.png
Normal file
After Width: | Height: | Size: 430 KiB |
BIN
legoresources/MC22122017/04b - MakeCode - medmotor@2x.png
Normal file
After Width: | Height: | Size: 428 KiB |
BIN
legoresources/MC22122017/05a - MakeCode - large motor@2x.png
Normal file
After Width: | Height: | Size: 426 KiB |
BIN
legoresources/MC22122017/05b - MakeCode - large motor@2x.png
Normal file
After Width: | Height: | Size: 425 KiB |
BIN
legoresources/MC22122017/06 - MakeCode - color - 1@2x.png
Normal file
After Width: | Height: | Size: 428 KiB |
BIN
legoresources/MC22122017/06 - MakeCode - color - 2@2x.png
Normal file
After Width: | Height: | Size: 422 KiB |
BIN
legoresources/MC22122017/06 - MakeCode - color - 3@2x.png
Normal file
After Width: | Height: | Size: 429 KiB |
BIN
legoresources/MC22122017/07a - MakeCode - Gyro@2x.png
Normal file
After Width: | Height: | Size: 423 KiB |
BIN
legoresources/MC22122017/07b - MakeCode - Gyro@2x.png
Normal file
After Width: | Height: | Size: 413 KiB |
BIN
legoresources/MC22122017/08 - MakeCode - UltraSound@2x.png
Normal file
After Width: | Height: | Size: 408 KiB |
BIN
legoresources/MC22122017/09a - MakeCode - display image@2x.png
Normal file
After Width: | Height: | Size: 478 KiB |
BIN
legoresources/MC22122017/10a - MakeCode – mouseover@2x.png
Normal file
After Width: | Height: | Size: 407 KiB |
BIN
legoresources/MC22122017/10b - MakeCode – mouseover@2x.png
Normal file
After Width: | Height: | Size: 408 KiB |
BIN
legoresources/MC22122017/10c - MakeCode - popup w-overlay@2x.png
Normal file
After Width: | Height: | Size: 351 KiB |
BIN
legoresources/MC22122017/11a - MakeCode - delete block@2x.png
Normal file
After Width: | Height: | Size: 346 KiB |
BIN
legoresources/MC22122017/11b - MakeCode - delete block@2x.png
Normal file
After Width: | Height: | Size: 366 KiB |
BIN
legoresources/MC22122017/12a - MakeCode - fullscreen@2x.png
Normal file
After Width: | Height: | Size: 382 KiB |
BIN
legoresources/MC22122017/12b - MakeCode - fullscreen@2x.png
Normal file
After Width: | Height: | Size: 424 KiB |
BIN
legoresources/MC22122017/Loader - 1@2x.png
Normal file
After Width: | Height: | Size: 132 KiB |
BIN
legoresources/MC22122017/Loader – 2@2x.png
Normal file
After Width: | Height: | Size: 132 KiB |
BIN
legoresources/MC22122017/XX-blocks@2x.png
Normal file
After Width: | Height: | Size: 270 KiB |
5914
legoresources/MakeCode_overview.ai
Normal file
BIN
legoresources/SVGassets/.DS_Store
vendored
14
libs/behaviors/_locales/behaviors-jsdoc-strings.json
Normal file
@ -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"
|
||||
}
|
7
libs/behaviors/_locales/behaviors-strings.json
Normal file
@ -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
@ -0,0 +1,6 @@
|
||||
{
|
||||
"additionalFilePath": "../../node_modules/pxt-common-packages/libs/behaviors",
|
||||
"dependencies": {
|
||||
"core": "file:../ev3"
|
||||
}
|
||||
}
|
56
libs/behaviors/targetoverrides.ts
Normal file
@ -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);
|
||||
}
|
||||
}
|
@ -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"
|
||||
}
|
@ -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"
|
||||
|
@ -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)
|
||||
}
|
||||
|
@ -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.",
|
||||
|
@ -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"
|
||||
}
|
@ -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
@ -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();
|
||||
}
|
||||
}
|
@ -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
@ -0,0 +1,11 @@
|
||||
#include "pxt.h"
|
||||
|
||||
namespace sensors {
|
||||
|
||||
/**
|
||||
* Mark a sensor as used
|
||||
*/
|
||||
//%
|
||||
void __sensorUsed(int port, int type) {
|
||||
}
|
||||
}
|
@ -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) {
|
||||
|
@ -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)
|
||||
|
@ -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 {
|
||||
}
|
||||
|
@ -20,3 +20,13 @@ void target_init() {
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
namespace motors {
|
||||
|
||||
/**
|
||||
* Mark a motor as used
|
||||
*/
|
||||
//%
|
||||
void __motorUsed(int port, bool large) {
|
||||
}
|
||||
}
|
@ -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
|
||||
|
@ -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);
|
||||
|
@ -3,6 +3,8 @@
|
||||
|
||||
#include "pxtbase.h"
|
||||
|
||||
void *xmalloc(size_t sz);
|
||||
|
||||
namespace pxt {
|
||||
void raiseEvent(int id, int event);
|
||||
int allocateNotifyEvent();
|
||||
|
@ -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",
|
||||
|
@ -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);
|
||||
}
|
||||
}
|
||||
}
|
77
libs/core/serialnumber.cpp
Normal 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
@ -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.
|
||||
|
@ -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;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
@ -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
|
||||
}
|
||||
}
|
||||
|
@ -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)
|
||||
|
@ -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 {
|
||||
|
||||
}
|
||||
|
@ -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
@ -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)
|
@ -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"
|
||||
}
|
@ -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)
|
||||
}
|
||||
|
@ -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",
|
||||
|
@ -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",
|
||||
|
@ -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)
|
||||
|
||||
|
||||
|
@ -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."
|
||||
}
|
@ -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",
|
||||
|
@ -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
@ -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;
|
||||
|
@ -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
@ -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
|
||||
```
|
11
libs/tests/_locales/tests-jsdoc-strings.json
Normal 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"
|
||||
}
|
11
libs/tests/_locales/tests-strings.json
Normal 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
@ -0,0 +1,6 @@
|
||||
{
|
||||
"additionalFilePath": "../../node_modules/pxt-common-packages/libs/tests",
|
||||
"dependencies": {
|
||||
"core": "file:../ev3"
|
||||
}
|
||||
}
|
12
libs/tests/targetoverrides.ts
Normal 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();
|
||||
})
|
@ -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."
|
||||
}
|
@ -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"
|
||||
}
|
@ -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
@ -0,0 +1,11 @@
|
||||
{
|
||||
"compilerOptions": {
|
||||
"target": "es5",
|
||||
"noImplicitAny": true,
|
||||
"noImplicitReturns": true,
|
||||
"rootDir": ".",
|
||||
"newLine": "LF",
|
||||
"sourceMap": false,
|
||||
"types": []
|
||||
}
|
||||
}
|
@ -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"
|
||||
}
|
@ -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"
|
||||
}
|
@ -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
10
package.json
@ -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"
|
||||
|
@ -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
|
||||
}
|
||||
|
179
sim/dalboard.ts
@ -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;
|
||||
}
|
||||
|
@ -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
|
||||
})
|
||||
}
|
||||
}
|