0.0.55

docs/coding.md

@@ -9,17 +9,17 @@
 ```codecard
 [
 {
-  "name": "Three Point Turn",
+  "name": "Three Point Turn 1",
   "description": "Activity 1",
   "url":"/coding/three-point-turn-1",
   "cardType": "example"
 }, {
-  "name": "Three Point Turn",
+  "name": "Three Point Turn 2",
   "description": "Activity 2",
   "url":"/coding/three-point-turn-2",
   "cardType": "example"
 }, {
-  "name": "Three Point Turn",
+  "name": "Three Point Turn 3",
   "description": "Activity 3",
   "url":"/coding/three-point-turn-3",
   "cardType": "example"
@@ -30,17 +30,17 @@
 
 ```codecard
 [{
-  "name": "Reversing the robot",
+  "name": "Reversing the robot 1",
   "description": "Activity 1",
   "url":"/coding/reversing-the-robot-1",
   "cardType": "example"
 }, {
-  "name": "Reversing the robot",
+  "name": "Reversing the robot 2",
   "description": "Activity 2",
   "url":"/coding/reversing-the-robot-2",
   "cardType": "example"
 }, {
-  "name": "Reversing the robot",
+  "name": "Reversing the robot 3",
   "description": "Activity 3",
   "url":"/coding/reversing-the-robot-3",
   "cardType": "example"
@@ -51,17 +51,17 @@
 
 ```codecard
 [{
-  "name": "Light the way",
+  "name": "Light the way 1",
   "description": "Activity 1",
   "url":"/coding/light-the-way-1",
   "cardType": "example"
 }, {
-  "name": "Light the way",
+  "name": "Light the way 2",
   "description": "Activity 2",
   "url":"/coding/light-the-way-2",
   "cardType": "example"
 }, {
-  "name": "Light the way",
+  "name": "Light the way 3",
   "description": "Activity 3",
   "url":"/coding/light-the-way-3",
   "cardType": "example"
@@ -73,17 +73,17 @@
 
 ```codecard
 [{
-  "name": "Traffic Lights",
+  "name": "Traffic Lights 1",
   "description": "Activity 1",
   "url":"/coding/traffic-lights-1",
   "cardType": "example"
 }, {
-  "name": "Traffic Lights",
+  "name": "Traffic Lights 2",
   "description": "Activity 2",
   "url":"/coding/traffic-lights-2",
   "cardType": "example"
 }, {
-  "name": "Traffic Lights",
+  "name": "Traffic Lights 3",
   "description": "Activity 3",
   "url":"/coding/traffic-lights-3",
   "cardType": "example"
@@ -95,20 +95,76 @@
 
 ```codecard
 [{
-  "name": "Reverse Beeper",
+  "name": "Reverse Beeper 1",
   "description": "Activity 1",
   "url":"/coding/reverse-beeper-1",
   "cardType": "example"
 }, {
-  "name": "Reverse Beeper",
+  "name": "Reverse Beeper 2",
   "description": "Activity 2",
   "url":"/coding/reverse-beeper-2",
   "cardType": "example"
 }, {
-  "name": "Reverse Beeper",
+  "name": "Reverse Beeper 3",
   "description": "Activity 3",
   "url":"/coding/reverse-beeper-3",
   "cardType": "example"
-}
-]
+}]
 ```
+
+## Ignition
+
+```codecard
+[{
+  "name": "Ignition 1",
+  "description": "Activity 1",
+  "url":"/coding/ingition-1",
+  "cardType": "example"
+}, {
+  "name": "Ignition 2",
+  "description": "Activity 2",
+  "url":"/coding/ignition-2",
+  "cardType": "example"
+}, {
+  "name": "Ignition 3",
+  "description": "Activity 3",
+  "url":"/coding/ignition-3",
+  "cardType": "example"
+}]
+```
+
+## Cruise Control
+
+```codecard
+[{
+  "name": "Cruise Control 1",
+  "description": "Activity 1",
+  "url":"/coding/cruise-control-1",
+  "cardType": "example"
+}, {
+  "name": "Cruise Control 2",
+  "description": "Activity 2",
+  "url":"/coding/cruise-control-2",
+  "cardType": "example"
+}, {
+  "name": "Cruise Control 3",
+  "description": "Activity 3",
+  "url":"/coding/cruise-control-3",
+  "cardType": "example"
+}]
+```
+
+## Roaming
+
+```codecard
+[{
+  "name": "Roaming 1",
+  "description": "Activity 1",
+  "url":"/coding/roaming-1",
+  "cardType": "example"
+}, {
+  "name": "Roaming 2",
+  "description": "Activity 2",
+  "url":"/coding/roaming-2",
+  "cardType": "example"
+}, {

docs/coding/cruise-control-1.md

@@ -0,0 +1,10 @@
+# Cruise Control Activity 1
+
+```blocks
+let speed = 0;
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    if (speed < 100)
+        speed = speed + 10;
+    motors.largeBC.setSpeed(speed);
+}) 
+```

docs/coding/cruise-control-2.md

@@ -0,0 +1,15 @@
+# Cruise Control Activity 2
+
+```blocks
+let speed = 0;
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    if (speed < 100)
+        speed = speed + 10;
+    motors.largeBC.setSpeed(speed);
+}) 
+sensors.touch2.onEvent(TouchSensorEvent.Pressed, function () {
+    if (speed > -100)
+        speed = speed - 10;
+    motors.largeBC.setSpeed(speed);
+}) 
+```

docs/coding/cruise-control-3.md

@@ -0,0 +1,28 @@
+# Cruise Control Activity 3
+
+```blocks
+let speed = 0
+function decelerate() {
+    if (speed > -100) {
+        speed = speed - 10
+    }
+}
+function accelerate() {
+    if (speed < 100) {
+        speed = speed + 10
+    }
+}
+function update() {
+    brick.clearScreen()
+    brick.printLine("speed: " + speed, 1)
+    motors.largeBC.setSpeed(speed)
+}
+sensors.touch2.onEvent(TouchSensorEvent.Pressed, function () {
+    accelerate()
+    update()
+})
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    decelerate()
+    update()
+})
+```

docs/coding/ignition-2.md

@@ -0,0 +1,12 @@
+# Ignition Activity 2
+
+```blocks
+while (true) {
+    if (sensors.touch1.wasPressed() &&
+        sensors.ultrasonic4.distance() < 10) {
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
+    }
+    loops.pause(1);
+}
+```

docs/coding/ignition-3.md

@@ -0,0 +1,13 @@
+# Ignition Activity 3
+
+```blocks
+while (true) {
+    if (sensors.ultrasonic4.distance() < 10 &&
+        sensors.touch1.wasPressed() &&
+        brick.buttonEnter.wasPressed()) {
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
+    }
+    loops.pause(1);
+}
+```

docs/coding/roaming-1.md

@@ -0,0 +1,36 @@
+# Roaming Activity 1
+
+```blocks
+let drive: number[] = []
+brick.buttonLeft.onEvent(ButtonEvent.Click, function () {
+    drive.push(1)
+})
+brick.buttonRight.onEvent(ButtonEvent.Click, function () {
+    drive.push(3)
+})
+brick.buttonUp.onEvent(ButtonEvent.Click, function () {
+    drive.push(4)
+})
+brick.buttonDown.onEvent(ButtonEvent.Click, function () {
+    drive.push(5)
+})
+pauseUntil(() => drive.length >= 5)
+loops.pause(1000)
+music.playSoundEffectUntilDone(sounds.communicationGo)
+for (let d of drive) {
+    if (d == 1) {
+        motors.largeC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeC.pauseUntilReady()
+    } else if (d == 3) {
+        motors.largeB.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeB.pauseUntilReady()
+    } else if (d == 4) {
+        motors.largeBC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    } else {
+        motors.largeBC.setSpeedFor(-50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    }
+}
+music.playSoundEffectUntilDone(sounds.communicationGameOver)
+```

docs/coding/roaming-2.md

@@ -0,0 +1,40 @@
+# Roaming Activity 2
+
+```blocks
+let drive: number[] = []
+brick.buttonLeft.onEvent(ButtonEvent.Click, function () {
+    drive.push(1)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonRight.onEvent(ButtonEvent.Click, function () {
+    drive.push(3)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonUp.onEvent(ButtonEvent.Click, function () {
+    drive.push(4)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonDown.onEvent(ButtonEvent.Click, function () {
+    drive.push(5)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonEnter.pauseUntil(ButtonEvent.Click);
+loops.pause(1000)
+music.playSoundEffectUntilDone(sounds.communicationGo)
+for (let d of drive) {
+    if (d == 1) {
+        motors.largeC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeC.pauseUntilReady()
+    } else if (d == 3) {
+        motors.largeB.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeB.pauseUntilReady()
+    } else if (d == 4) {
+        motors.largeBC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    } else {
+        motors.largeBC.setSpeedFor(-50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    }
+}
+music.playSoundEffectUntilDone(sounds.communicationGameOver)
+```

libs/core/buttons.ts

@@ -165,8 +165,10 @@ namespace brick {
         }
         // this needs to be done in query(), which is run without the main JS execution mutex
         // otherwise, while(true){} will lock the device
-        if (ret & DAL.BUTTON_ID_ESCAPE)
+        if (ret & DAL.BUTTON_ID_ESCAPE) {
+            motors.stopAllMotors();
             control.reset()
+        }
         return ret
     }
 
@@ -190,7 +192,7 @@ namespace brick {
             initBtns()
             buttons.push(this)
         }
-    }
+    }    
 
     initBtns() // always ON as it handles ESCAPE button
 
@@ -231,6 +233,7 @@ namespace control {
     /**
      * Determine the version of system software currently running.
      */
+    //%
     export function deviceFirmwareVersion(): string {
         let buf = output.createBuffer(6)
         brick.internal.getBtnsMM().read(buf)

libs/core/output.ts

@@ -270,13 +270,7 @@ namespace motors {
             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;
+            return (~flags & this._port) == this._port;
         }
 
         /**
@@ -448,7 +442,7 @@ namespace motors {
         private __setSpeed(speed: number) {
             syncMotors(this._port, {
                 speed: speed,
-                turnRatio: 100, // same speed
+                turnRatio: 0, // same speed
                 useBrake: !!this._brake
             })
         }
@@ -457,7 +451,7 @@ namespace motors {
             syncMotors(this._port, {
                 useSteps: steps,
                 speed: speed,
-                turnRatio: 100, // same speed
+                turnRatio: 0, // same speed
                 stepsOrTime: stepsOrTime,
                 useBrake: this._brake
             });

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.54",
+  "version": "0.0.55",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [

sim/state/motornode.ts

@@ -22,6 +22,10 @@ namespace pxsim {
             this.setLarge(large);
         }
 
+        isReady() {
+            return !this.speedCmd;
+        }
+
         getSpeed() {
             return this.speed * (this.polarity == 0 ? -1 : 1);
         }
@@ -154,8 +158,21 @@ namespace pxsim {
                         if (brake) this.speed = 0;
                         this.clearSpeedCmd();
                     }
-                    // send synched motor state
-                    otherMotor.speed = Math.floor(this.speed * turnRatio / 100);
+
+                    // turn ratio is a bit weird to interpret
+                    // see https://communities.theiet.org/blogs/698/1706
+                    if (turnRatio < 0) {
+                        otherMotor.speed = speed;
+                        this.speed *= (100 + turnRatio) / 100;
+                    } else {
+                        otherMotor.speed = this.speed * (100 - turnRatio) / 100;
+                    }
+
+                    // clamp
+                    this.speed = Math.max(-100, Math.min(100, this.speed >> 0));
+                    otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));;
+
+                    // stop other motor if needed
                     if (!this._synchedMotor)
                         otherMotor.clearSpeedCmd();
                     break;

sim/state/output.ts

@@ -12,10 +12,24 @@ namespace pxsim {
                         data[i] = 0
                 },
                 read: buf => {
-                    let v = "vSIM"
-                    for (let i = 0; i < buf.data.length; ++i)
-                        buf.data[i] = v.charCodeAt(i) || 0
-                    console.log("pwm read");
+                    // console.log("pwm read");
+                    if (buf.data.length == 0) return 2;
+                    const cmd = buf.data[0];
+                    switch (cmd) {
+                        case DAL.opOutputTest:
+                            const port = buf.data[1];
+                            let r = 0;
+                            ev3board().getMotor(port)
+                                .filter(motor => !motor.isReady())
+                                .forEach(motor => r |= (1 << motor.port));
+                            pxsim.BufferMethods.setNumber(buf, BufferMethods.NumberFormat.UInt8LE, 2, r);
+                            break;
+                        default:
+                            let v = "vSIM"
+                            for (let i = 0; i < buf.data.length; ++i)
+                                buf.data[i] = v.charCodeAt(i) || 0
+                            break;
+                    }
                     return buf.data.length
                 },
                 write: buf => {