Compare commits

...

46 Commits

Author SHA1 Message Date
9187c47e09 0.0.78 2018-01-30 22:22:44 -08:00
fcf91caeb4 Zoom screen (#285)
* always start with full brick layout

* adding 'on start' to template

* render entire board when selected

* zoom brick when clicking on screen

* resize when zooming

* toggle zooming of the brick

* inject close icon when selected

* fix toggling
2018-01-30 22:22:21 -08:00
822227eb48 Brick ref topics 02 (#283)
* Add brick button topics

* Add the rest of the brick api
2018-01-30 20:58:18 -08:00
8a331648d6 Field editor fixes in Firefox (#284)
* fixing speed field picker

* switching to open sans

* alignment-baseline not support in FF
2018-01-30 20:40:41 -08:00
4f70d341e4 Start on the 'brick' api topics (#280)
* Start on the 'brick' api topics

* Add the delay to clear screen example

* Better output for clearsceen example
2018-01-30 17:02:22 -08:00
e06659ab4c removing group icons (#282) 2018-01-30 16:40:08 -08:00
437c36b983 0.0.77 2018-01-30 16:16:07 -08:00
3d73f193a8 fix for #260 (#279) 2018-01-30 16:14:54 -08:00
a71dee2923 rebuild for sampling (#261)
* rebuild for sampling

* bump pxt
2018-01-30 16:01:12 -08:00
9ef5b8d4ad 0.0.76 2018-01-30 11:05:29 -08:00
8aa47f3d1e updated chassis (#250) 2018-01-30 08:49:10 -08:00
02b0716043 0.0.75 2018-01-30 08:28:12 -08:00
188d5b3aa7 threshold query api 2018-01-30 08:27:23 -08:00
16c67f0e30 Refactoring datalog in common packages (#249)
* using datalog from common packages

* upgrading common package link

* updated block signatures

* more docs
2018-01-29 19:46:54 -08:00
104185a41e 0.0.74 2018-01-29 15:21:37 -08:00
73363d11b2 Download dialog (#248)
* download dialog

* updated pxt reference

* typo
2018-01-29 15:21:15 -08:00
61996acdd9 0.0.73 2018-01-29 13:26:46 -08:00
21deb45728 fixing release fiber 2018-01-29 13:26:31 -08:00
34578d2370 0.0.72 2018-01-29 11:20:46 -08:00
3f50b5c39a updated pxt references + hero banner 2018-01-29 11:20:34 -08:00
d371225066 0.0.71 2018-01-23 14:53:09 -08:00
387effbdd0 upgraded to run in parallel 2018-01-23 14:52:41 -08:00
18480080e7 updated tutorial format 2018-01-19 15:42:23 -08:00
bf6a932e5f Color calibration (#245)
* better handling of thresholds, color calibration strategy

* updating calibration parameters
2018-01-19 13:11:11 -08:00
23bb316403 settle robot once brake is applied 2018-01-18 21:28:00 -08:00
138de504e5 minor high contrast fixes 2018-01-18 21:03:57 -08:00
df13e40a45 fixing make it move 2018-01-18 16:47:00 -08:00
511ea2374b fixing summary 2018-01-18 16:44:57 -08:00
db4ed6daf3 fixing a bunch of snippets 2018-01-18 16:43:16 -08:00
a60427e2cf using audio context manager function (#243)
* using audio context manager function

* updated pxt reference

* trigger build
2018-01-18 13:53:33 -08:00
ef5b4172e8 missing file logo 2018-01-18 12:42:11 -08:00
7baf7cfede 0.0.70 2018-01-18 12:13:17 -08:00
efd6718ea3 converted lesson to tutorial 2018-01-18 12:09:43 -08:00
057a1d66dc PID support (#242)
* updated block definitions

* updated dependency on common packages
2018-01-18 10:34:06 -08:00
5ddfcd5508 Prototype lesson 'Make it Move" (#241)
* Prototype lesson 'Make it Move"

* Wrong blockq type
2018-01-17 19:45:07 -08:00
00f0922189 Merge pull request #240 from Microsoft/line-detect-lesson
Prototype lesson for 'Line Detection'
2018-01-17 19:07:29 -08:00
41f4b64087 Add to gallerys 2018-01-17 18:52:49 -08:00
ea5ee1c007 Prototype lesson for 'Line Detection' 2018-01-17 17:02:11 -08:00
603e4c0fc1 0.0.69 2018-01-16 17:06:52 -08:00
e50c88008a updated gyrobox 2018-01-16 17:05:57 -08:00
f057964a50 pausing until sound is done in mood 2018-01-16 16:44:32 -08:00
2eda2061cf updated modified gyro boy 2018-01-16 16:26:49 -08:00
a4ebf4c746 moving moods in separate namespace 2018-01-16 16:21:02 -08:00
f1880897d4 0.0.68 2018-01-16 16:08:53 -08:00
ad2e82060d removing BrickLight blockIdenity notations 2018-01-16 15:59:40 -08:00
d1bb19e30e adding a mood block (image+sound+light) 2018-01-16 14:52:49 -08:00
118 changed files with 2930 additions and 537 deletions

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@ -5,7 +5,7 @@
This repo contains the editor target hosted at https://d541eec2-1e96-4b7b-a223-da9d01d0337a.pxt.io/
LEGO Auth: https://src.education.lego.com/groups/ev3-makecode (use Google Authenticator)
LEGO Chat: https://chat.internal.education.lego.com/make-code/channels/town-square
LEGO Chat: https://chat.internal.education.lego.com/make-code/channels/town-square
## Local Dev setup

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@ -1,5 +1,57 @@
# @extends
## Projects #projects
* [Maker](/maker)
* [Sound Machine](/maker/sound-machine)
* [Sound of Color](/maker/sound-of-color)
* [Security Gadget](/maker/security-gadget)
* [Intruder detector](/maker/intruder-detector)
* [Puppet](/maker/puppet)
* [Coding](/coding)
* [Three Point Turn 1](/coding/three-point-turn-1)
* [Three Point Turn 2](/coding/three-point-turn-2)
* [Three Point Turn 3](/coding/three-point-turn-3)
* [Reversing the robot 1](/coding/reversing-the-robot-1)
* [Reversing the robot 2](/coding/reversing-the-robot-2)
* [Reversing the robot 3](/coding/reversing-the-robot-3)
* [Light the way 1](/coding/light-the-way-1)
* [Light the way 2](/coding/light-the-way-2)
* [Light the way 3](/coding/light-the-way-3)
* [Traffic Lights 1](/coding/traffic-lights-1)
* [Traffic Lights 2](/coding/traffic-lights-2)
* [Traffic Lights 3](/coding/traffic-lights-3)
* [Reverse Beeper 1](/coding/reverse-beeper-1)
* [Reverse Beeper 2](/coding/reverse-beeper-2)
* [Reverse Beeper 3](/coding/reverse-beeper-3)
* [Ignition 1](/coding/ignition-1)
* [Ignition 2](/coding/ignition-2)
* [Ignition 3](/coding/ignition-3)
* [Cruise Control 1](/coding/cruise-control-1)
* [Cruise Control 2](/coding/cruise-control-2)
* [Cruise Control 3](/coding/cruise-control-3)
* [Roaming 1](/coding/roaming-1)
* [Roaming 2](/coding/roaming-2)
* [Lessons](/lessons)
* [Make it move](/lessons/make-it-move)
* [Line detection](/lessons/line-detection)
## Reference #reference
* [Reference](/reference)
* [Brick](/reference/brick)
* [show string](/reference/brick/show-string)
* [show number](/reference/brick/show-number)
* [show value](/reference/brick/show-value)
* [show mood](/reference/brick/show-mood)
* [show image](/reference/brick/show-image)
* [clear screen](/reference/brick/clear-screen)
* [print ports](/reference/brick/print-ports)
* [on event](/reference/brick/button/on-event)
* [is pressed](/reference/brick/button/is-pressed)
* [was pressed](/reference/brick/button/was-pressed)
* [pause until](/reference/brick/button/pause-until)
* [set light](/reference/brick/set-light)
* [battery level](/reference/brick/battery-level)

View File

@ -6,14 +6,14 @@ Welcome to the **Microsoft MakeCode** editor for the **@boardname@**!
You can program the @boardname@ using [Blocks](/blocks) or [JavaScript](/javascript) in your web browser:
```block
input.buttonA.onEvent(ButtonEvent.Click, () => {
light.showRing(`blue blue blue blue blue blue blue blue blue blue`)
```blocks
brick.buttonEnter.onEvent(ButtonEvent.Click, () => {
motors.largeA.setSpeed(50)
})
```
```typescript
input.buttonA.onEvent(ButtonEvent.Click, () => {
light.showRing(`blue blue blue blue blue blue blue blue blue blue`)
brick.buttonEnter.onEvent(ButtonEvent.Click, () => {
motors.largeA.setSpeed(50)
})
```
@ -22,10 +22,10 @@ The editor work in [most modern browsers](/browsers), work [offline](/offline) o
## [Compile and Flash: Your Program!](/device/usb)
When you have your code ready, you connect your @boardname@ to a computer via a USB cable
**then press the reset button** so it appears as a mounted drive (named **CPLAYBOOT**).
so it appears as a mounted drive (named **EV3**).
Compilation to machine code from [Blocks](/blocks) or [JavaScript](/javascript) happens in the browser. You save the binary
program to a **.uf2** file, which you then copy to the **CPLAYBOOT** drive, which flashes the device with the new program.
program to a **.uf2** file, which you then copy to the **EV3** drive, which flashes the device with the new program.
## Simulator: Test Your Code
@ -33,11 +33,7 @@ You can run your code using the micro:bit simulator, all within the confines of
The simulator has support for the LED screen, buttons, as well as compass, accelerometer, and digital I/O pins.
```sim
loops.forever(() => {
light.pixels.showAnimation(light.animation(LightAnimation.Rainbow), 1000)
brick.buttonEnter.onEvent(ButtonEvent.Click, () => {
motors.largeA.setSpeed(50)
})
```
```package
light
```

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@ -3,13 +3,13 @@
```blocks
let beep = false
beep = true
control.runInBackground(function () {
control.runInParallel(function () {
motors.largeBC.setSpeed(-20)
sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear)
motors.largeBC.stop()
beep = false
})
control.runInBackground(function () {
control.runInParallel(function () {
while (beep) {
if (sensors.ultrasonic4.distance() < 20) {
music.playTone(440, sensors.ultrasonic4.distance())

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@ -3,10 +3,10 @@
```blocks
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
motors.largeBC.setSpeed(50)
sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
sensors.touch1.pauseUntil(TouchSensorEvent.Pressed)
motors.largeBC.setSpeed(0)
loops.pause(1000)
brick.setLight(LightsPattern.OrangeFlash)
brick.setLight(BrickLight.OrangeFlash)
motors.largeBC.setSpeed(-50)
loops.pause(2000)
motors.largeBC.setSpeed(0)

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@ -2,12 +2,12 @@
```blocks
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
sensors.touch1.pauseUntil(TouchSensorEvent.Pressed)
motors.largeBC.setSpeed(50)
sensors.touchSensor2.pauseUntil(TouchSensorEvent.Pressed)
sensors.touch2.pauseUntil(TouchSensorEvent.Pressed)
motors.largeBC.setSpeed(0)
loops.pause(1000)
brick.setLight(LightsPattern.OrangeFlash)
brick.setLight(BrickLight.OrangeFlash)
motors.largeBC.setSpeed(-50)
loops.pause(2000)
motors.largeBC.setSpeed(0)

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@ -3,14 +3,14 @@
```blocks
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
brick.showImage(images.eyesSleeping)
sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
sensors.touch1.pauseUntil(TouchSensorEvent.Pressed)
brick.showImage(images.eyesNeutral)
motors.largeBC.setSpeed(50)
sensors.touchSensor2.pauseUntil(TouchSensorEvent.Pressed)
sensors.touch2.pauseUntil(TouchSensorEvent.Pressed)
brick.showImage(images.eyesTiredMiddle)
motors.largeBC.setSpeed(0)
loops.pause(1000)
brick.setLight(LightsPattern.OrangeFlash)
brick.setLight(BrickLight.OrangeFlash)
brick.showImage(images.eyesDizzy)
motors.largeBC.setSpeed(-50)
loops.pause(2000)

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@ -19,17 +19,13 @@ 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()
motors.largeC.setSpeed(50, 360, MoveUnit.Degrees)
} else if (d == 3) {
motors.largeB.setSpeedFor(50, 360, MoveUnit.Degrees)
motors.largeB.pauseUntilReady()
motors.largeB.setSpeed(50, 360, MoveUnit.Degrees)
} else if (d == 4) {
motors.largeBC.setSpeedFor(50, 360, MoveUnit.Degrees)
motors.largeBC.pauseUntilReady()
motors.largeBC.setSpeed(50, 360, MoveUnit.Degrees)
} else {
motors.largeBC.setSpeedFor(-50, 360, MoveUnit.Degrees)
motors.largeBC.pauseUntilReady()
motors.largeBC.setSpeed(-50, 360, MoveUnit.Degrees)
}
}
music.playSoundEffectUntilDone(sounds.communicationGameOver)

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@ -23,17 +23,13 @@ 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()
motors.largeC.setSpeed(50, 360, MoveUnit.Degrees)
} else if (d == 3) {
motors.largeB.setSpeedFor(50, 360, MoveUnit.Degrees)
motors.largeB.pauseUntilReady()
motors.largeB.setSpeed(50, 360, MoveUnit.Degrees)
} else if (d == 4) {
motors.largeBC.setSpeedFor(50, 360, MoveUnit.Degrees)
motors.largeBC.pauseUntilReady()
motors.largeBC.setSpeed(50, 360, MoveUnit.Degrees)
} else {
motors.largeBC.setSpeedFor(-50, 360, MoveUnit.Degrees)
motors.largeBC.pauseUntilReady()
motors.largeBC.setSpeed(-50, 360, MoveUnit.Degrees)
}
}
music.playSoundEffectUntilDone(sounds.communicationGameOver)

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@ -0,0 +1,178 @@
# Gyroboy
Work in progress
```blocks
let motorSpeed1 = 0
let motorSpeed2 = 0
let motorSpeed3 = 0
let motorSpeed = 0
let fallen = false
let motorSpeed0 = 0
let oldControlDrive = 0
let controlDrive = 0
let power = 0
let motorAngle = 0
let gyroAngle = 0
let controlSteering = 0
let state = 0
let motorPosition = 0
let temp = 0
let gyroRate = 0
let timestep = 0
sensors.color1.onColorDetected(ColorSensorColor.Red, function () {
music.playTone(2000, 100)
controlDrive = 0
controlSteering = 0
})
// reads the motor angle and computes the motor speed,
// position
function computeMotors() {
temp = motorAngle
// read angle on both motors
motorAngle = motors.largeD.angle() + motors.largeA.angle()
// and estimate speed as angle difference
motorSpeed0 = motorAngle - temp
// average last 4 speed readings
motorSpeed = (motorSpeed0 + motorSpeed1 + motorSpeed2 + motorSpeed3) / 4 / timestep
// shift all previous recorded speeds by one
motorSpeed3 = motorSpeed2
motorSpeed2 = motorSpeed1
motorSpeed1 = motorSpeed0
// compute position from speed
motorPosition = motorPosition + timestep * motorSpeed
}
// read the gyro rate and computes the angle
function computeGyro() {
gyroRate = sensors.gyro2.rate()
gyroAngle = gyroAngle + timestep * gyroRate
}
function reset() {
state = 0
// sleeping
moods.sleeping.show();
// reset counters
motors.largeA.reset()
motors.largeD.reset()
// motors are unregulated
motors.largeA.setRegulated(false)
motors.largeD.setRegulated(false)
// clear the gyro sensor to remove drift
sensors.gyro2.reset()
// fall detection timer
control.timer2.reset()
// timestep computation timer
control.timer3.reset()
motorAngle = 0
motorPosition = 0
motorSpeed = 0
motorSpeed0 = 0
motorSpeed1 = 0
motorSpeed2 = 0
motorSpeed3 = 0
gyroRate = 0
gyroAngle = 0
fallen = false
power = 0
controlSteering = 0
controlDrive = 0
// awake
moods.awake.show();
gyroAngle = -0.25
state = 1;
}
// compute set point for motor position and required
// motor power
function computePower() {
// apply control and compute desired motor position
motorPosition -= timestep * controlDrive;
// estimate power based on sensor readings and control
// values
power = 0.8 * gyroRate + 15 * gyroAngle + (0.08 * motorSpeed + 0.12 * motorPosition) - 0.01 * controlDrive
// ensure that power stays within -100, 100
if (power > 100) {
power = 100
} else if (power < -100) {
power = -100
}
}
// test if the robot has fallen off
function checkFallen() {
if (Math.abs(power) < 100) {
control.timer2.reset()
}
if (control.timer2.seconds() > 2) {
fallen = true
}
}
// stop all motors and wait for touch button to be
// pressed
function stop() {
motors.stopAllMotors()
state = 0
moods.knockedOut.show();
sensors.touch3.pauseUntil(TouchSensorEvent.Pressed)
moods.neutral.show();
}
sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjectNear, function () {
moods.dizzy.show()
controlSteering = 0
oldControlDrive = controlDrive
controlDrive = -10
motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
motors.mediumC.setSpeed(-30, 60, MoveUnit.Degrees);
motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
if (Math.randomRange(-1, 1) >= 1) {
controlSteering = 70
} else {
controlSteering = -70
}
loops.pause(4000)
music.playTone(2000, 100)
controlSteering = 0
controlDrive = oldControlDrive
moods.neutral.show()
})
// compute the elapsed time since the last iteration
function computeTimestep() {
timestep = control.timer3.seconds()
control.timer3.reset()
}
sensors.color1.onColorDetected(ColorSensorColor.Green, function () {
moods.winking.show()
controlDrive = 150
controlSteering = 0
})
sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {
moods.middleRight.show()
controlSteering = 70
})
// apply power to motors
function controlMotors() {
motors.largeA.setSpeed(power + controlSteering * 0.1)
motors.largeD.setSpeed(power - controlSteering * 0.1)
}
sensors.color1.onColorDetected(ColorSensorColor.Yellow, function () {
moods.middleLeft.show()
controlSteering = -70
})
sensors.color1.onColorDetected(ColorSensorColor.White, function () {
moods.sad.show();
controlDrive = -75
})
timestep = 0.014
// main loop
loops.forever(function () {
reset()
while (!fallen) {
control.timer3.pauseUntil(5)
computeTimestep()
computeGyro()
computeMotors()
computePower()
controlMotors()
checkFallen()
}
stop()
})
```

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@ -81,7 +81,7 @@ function IS(t: number) {
function UP() {
if (motors.largeA.angle() > -50) {
control.runInBackground(function () {
control.runInParallel(function () {
motors.largeD.clearCounts()
motors.largeD.setSpeed(-35);
pauseUntil(() => motors.largeD.angle() < -25);

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@ -3,10 +3,10 @@
Use a touch sensor to make the brick happy.
```blocks
sensors.touchSensor1.onEvent(TouchSensorEvent.Pressed, function () {
sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
brick.showImage(images.expressionsBigSmile)
})
sensors.touchSensor1.onEvent(TouchSensorEvent.Released, function () {
sensors.touch1.onEvent(TouchSensorEvent.Released, function () {
brick.showImage(images.expressionsSick)
})
```

27
docs/lessons.md Normal file
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@ -0,0 +1,27 @@
# Lessons
Learning activities for LEGO Mindstorms with MakeCode.
## Motors and motion
```codecard
[{
"name": "Make it Move",
"imageUrl":"/static/lessons/make-it-move.jpg",
"url": "/lessons/make-it-move",
"cardType": "project",
"description": "Make a robot that moves itself without wheels."
}, {
"name": "Make it Move TUTORIAL",
"imageUrl":"/static/lessons/make-it-move.jpg",
"url": "/lessons/make-it-move-tutorial",
"cardType": "tutorial",
"description": "Make a robot that moves itself without wheels."
}, {
"name": "Line Detection",
"imageUrl":"/static/lessons/line-detection.jpg",
"url": "/lessons/line-detection",
"cardType": "project",
"description": "Make your robot drive itself by following lines."
}]
```

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@ -0,0 +1,266 @@
# Line Detection
## Objective
Design ways to improve driving safety by helping to prevent drivers from falling asleep and causing an accident.
![Car driving on highway](/static/lessons/line-detection/car-driving.jpg)
## Connect
Make sure that you can answer the following questions:
* Can autonomous cars react to different traffic light signals?
* What can happen if a driver falls asleep while driving?
* How can we detect when a driver is falling asleep?
Think about what you have learned, then document it. Describe the problem in your own words. Creatively record your ideas and findings.
## Construct
Start by constructing this model. Read the building instructions [here](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-color-sensor-down-driving-base-d30ed30610c3d6647d56e17bc64cf6e2.pdf) first.
![Color sensor on the driving base](/static/lessons/line-detection/color-sensor-driving.jpg)
## Program
Autonomous cars need to recognize and respond to traffic lights automatically.
First, create a program that will make your robot stop at red lights.
Make sure your robot is only responding to the color red.
Once you have succeeded, program your robot to drive forward again when the light changes from red to green.
There are two coding tasks for this lesson:
1. Create a program that will make your robot stop at red lights.
2. Create a program that drives the robot forward until the Color Sensor sees red. The robot then stops.
## Coding task 1 - Stop at red lights
**Goal:** Create a program that will make your robot stop at red lights.
### Step 1
Create a program that drives the robot forward until the Color Sensor sees red. The robot then stops.
Place a ``||motors:steer large B+C||`` block from ``||motors:Motors||`` under ``||loops:on start||``. Change the speed to 20%.
```blocks
motors.largeBC.steer(0, 20)
```
### Step 2
Place a ``||loops:while||`` loop block under ``||motors:steer large B+C||``.
```blocks
motors.largeBC.steer(0, 20)
while (true) {
}
```
### Step 3
Place a ``||sensors:pause for color||`` from ``||sensors:Sensors||`` inside the ``||loops:while||`` loop block. Change the color to red.
```blocks
motors.largeBC.steer(0, 20)
while (true) {
sensors.color3.pauseForColor(ColorSensorColor.Red)
}
```
### Step 4
Place a ``||motors:stop all motors||`` block under the ``||sensors:pause for color||`` block.
Study the program...what do you think the program will do?
**Hint:** The motors will run until the Color Sensor senses the color red, then all motors will stop. The motors will run until the sensor reading in the while block is true.
```blocks
motors.largeBC.steer(0, 20)
while (true) {
sensors.color3.pauseForColor(ColorSensorColor.Red)
motors.stopAllMotors()
}
```
### Step 5
Click `|Download|` and follow the instructions to get your code onto your EV3 Brick. Press the **center** button on the EV3 Brick to run the program.
## Coding task 2 - Detect light changes
**Goal:** Program your robot to drive forward again when the light changes from red to green.
### Step 1
Place a ``||loops:while||`` loop block under ``||loops:on start||``.
```blocks
while (true) {
}
```
### Step 2
Place a ``||motors:steer large B+C||`` block from ``||motors:Motors||`` inside the ``||loops:while||`` loop block. Change the speed to 20%.
```blocks
while (true) {
motors.largeBC.steer(0, 20)
}
```
### Step 4
Place a ``||loops:while||`` loop block under the ``||motors:steer large B+C||`` block.
```blocks
while (true) {
motors.largeBC.steer(0, 20)
while (true) {
}
}
```
### Step 5
Place a ``||sensors:pause for color||`` block from ``||sensors:Sensors||`` inside the ``||loops:while||`` loop block. Change the color to red.
```blocks
while (true) {
motors.largeBC.steer(0, 20)
while (true) {
sensors.color3.pauseForColor(ColorSensorColor.Red)
}
}
```
### Step 6
Place a ``||motors:stop all motors||`` block under the ``||sensors:pause for color||`` block.
```blocks
while (true) {
motors.largeBC.steer(0, 20)
while (true) {
sensors.color3.pauseForColor(ColorSensorColor.Red)
motors.stopAllMotors()
}
}
```
### Step 7
Place a ``||loops:while||`` loop block under the second ``||loops:while||`` loop block.
```blocks
while (true) {
motors.largeBC.steer(0, 20)
while (true) {
sensors.color3.pauseForColor(ColorSensorColor.Red)
motors.stopAllMotors()
}
while (true) {
}
}
```
### Step 8
Place a ``||sensors:pause for color||`` block inside the new ``||loops:while||`` loop block. Change the color to red.
What do you think the program will do?
**Hint:** The motors will run until the Color Sensor detects the color red, then it will stop all motors. The motors will also run and not stop when the color sensor detects the color green.
```blocks
while (true) {
motors.largeBC.steer(0, 20)
while (true) {
sensors.color3.pauseForColor(ColorSensorColor.Red)
motors.stopAllMotors()
}
while (true) {
sensors.color3.pauseForColor(ColorSensorColor.Red)
}
}
```
### Step 9
Click `|Download|` and follow the instructions to get your code onto your EV3 Brick. Press the **center** button on the EV3 Brick to run the program.
## Contemplate
To simulate what could happen if a driver falls asleep while driving, your robot could sound an alarm signal when it crosses the line. This feature is often available in new cars.
Program your robot to perform this function.
Think about what you have learned, then document it. Describe your pseudocode for this task. Creatively record your ideas, and findings.
### Programming hint
```blocks
motors.largeBC.steer(0, 20)
while (true) {
sensors.color3.pauseForColor(ColorSensorColor.Yellow)
music.playSoundEffect(sounds.systemGeneralAlert)
}
while (true) {
while (true) { sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
motors.largeB.setSpeed(10)
motors.largeC.setSpeed(-10)
}
while (true) {
sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
motors.largeA.setSpeed(-10)
motors.largeA.setSpeed(10)
}
}
```
## Continue
Program your robot to drive on “autopilot” along a given route. You will need to create a program that recognizes and responds to a dark line (or white line). You will create a line-following program and your robot will need to travel along the line without losing contact with it.
You will need to constantly debug your program in order to make your robot travel as smoothly as possible along the line.
### Programming hint
```blocks
while (true) {
while (true) { sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
motors.largeB.setSpeed(10)
motors.largeC.setSpeed(-10)
}
while (true) {
sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
motors.largeB.setSpeed(-10)
motors.largeC.setSpeed(10)
}
}
```
## Share
Consider the following questions:
1. What challenged you?
2. Where there any surprises?
3. How could you improve your program?
4. Could your program have been more streamlined?
5. Have you used too many blocks?
6. Is there a more efficient way of building your program?
7. How could your program be used in real-world scenarios?
Think about what you have learned, then document it. Creatively record and present your ideas, creations, and findings.

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@ -0,0 +1,72 @@
# Make It Move Without Wheels
## Objective @unplugged
Design, build and program a robot that can move itself:
Your robot will:
* Go a distance of at least 30cm
* Use at least one motor
* Use NO wheels for locomotion
![LECG Mindstorms brick with parts](/static/lessons/make-it-move/locomotion-no-wheels.jpg)
## Construct @unplugged
Build a Walker Bot!
The Walker Bot is one example of many possible solutions for making a robot move without wheels.
The Walker Bot combines an EV3 Frame and two legs that are mirror-images to create left and right legs.
The legs in the Walker Bot are designed to show how to change the rotary motion of a motor to reciprocating motion.
Start by reading [these](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/ev3-dep/building%20instructions/walker-bot-bi-180fc24f9298e1dd6201099627d43903.pdf) instructions first.
![LEGO Mindstorms Walker Bot](/static/lessons/make-it-move/walker-bot.jpg)
## Program 1 @fullscreen
In nature, creatures use many methods to get around. None of them, however, use wheels to move. Can we copy the method of animal locomotion with our robot? Using motors and legs, make the robot move without using any wheels.
Place a ``||motors:tank large B+C||`` block from ``||motors:Motors||`` under ``||loops:on start||``.
Change the speed to `-60%` (for motor B) and `+60%` (for motor C).
Change the rotations to `9`.
The ``||motors:tank large B+C||`` block will run for `9` rotations when the **center** button is pressed on the EV3 brick. The motors are set for the reverse direction because they are mounted upside down in this model.
```blocks
motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
```
## Program 2 @fullscreen
Place a ``||motors:stop all motors||`` block under ``||motors:tank large B+C||``.
The ``||motors:tank large B+C||`` block will run for `9` rotations when the **center** button is pressed on the EV3 brick then stop.
```blocks
motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
motors.stopAllMotors()
```
## Program 3 @fullscreen
Place a ``||brick:show string||`` block under ``||motors:stop all motors||``.
Change the `"Hello World"` text to `"30 cm"`.
The ``||motors:tank large B+C||`` will run for `9` rotations when the **center** button is pressed on the EV3 brick then stop and display "30 cm" on the EV3 Bricks screen.
```blocks
motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
motors.stopAllMotors()
brick.showString("30 cm", 1)
```
## Download @fullscreen
Click `|Download|` and follow the instructions to get your code onto your EV3 Brick. Press the **center** button on the EV3 Brick to run the program.

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# Make It Move Without Wheels
## Objective
Design, build and program a robot that can move itself:
Your robot will:
* Go a distance of at least 30cm
* Use at least one motor
* Use NO wheels for locomotion
![LECG Mindstorms brick with parts](/static/lessons/make-it-move/locomotion-no-wheels.jpg)
## Construct
Build a Walker Bot!
The Walker Bot is one example of many possible solutions for making a robot move without wheels.
The Walker Bot combines an EV3 Frame and two legs that are mirror-images to create left and right legs.
The legs in the Walker Bot are designed to show how to change the rotary motion of a motor to reciprocating motion.
Start by reading [these](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/ev3-dep/building%20instructions/walker-bot-bi-180fc24f9298e1dd6201099627d43903.pdf) instructions first.
![LEGO Mindstorms Walker Bot](/static/lessons/make-it-move/walker-bot.jpg)
## Program
In nature, creatures use many methods to get around. None of them, however, use wheels to move. Can we copy the method of animal locomotion with our robot? Using motors and legs, make the robot move without using any wheels.
### Step 1
Place a ``||motors:tank large B+C||`` block from ``||motors:Motors||`` under ``||loops:on start||``.
Change the speed to `-60%` (for motor B) and `+60%` (for motor C).
Change the rotations to `9`.
The ``||motors:tank large B+C||`` block will run for `9` rotations when the **center** button is pressed on the EV3 brick. The motors are set for the reverse direction because they are mounted upside down in this model.
```blocks
motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
```
### Step 2
Place a ``||motors:stop all motors||`` block under ``||motors:tank large B+C||``.
The ``||motors:tank large B+C||`` block will run for `9` rotations when the **center** button is pressed on the EV3 brick then stop.
```blocks
motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
motors.largeBC.stop()
```
### Step 3
Place a ``||brick:show string||`` block under ``||motors:stop all motors||``.
Change the `"Hello World"` text to `"30 cm"`.
The ``||motors:tank large B+C||`` will run for `9` rotations when the **center** button is pressed on the EV3 brick then stop and display "30 cm" on the EV3 Bricks screen.
```blocks
motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
motors.largeBC.stop()
brick.showString("30 cm", 1)
```
### Step 4
Click `|Download|` and follow the instructions to get your code onto your EV3 Brick. Press the **center** button on the EV3 Brick to run the program.

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@ -2,10 +2,8 @@
This program will activate an alarm when an object moves in front of the Ultrasonic Sensor.
TODO support for event when value changes
```blocks
input.ultrasonic4.onObjectNear(function () {
music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjectNear, function () {
music.playSoundEffectUntilDone(sounds.informationActivate)
})
```

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@ -4,14 +4,12 @@ Use this program with the Programmable Brick and Large Motor.
```blocks
loops.forever(function () {
output.largeMotorA.setPower(30)
output.largeMotorA.on(true)
motors.largeA.setSpeed(30)
loops.pause(100)
output.largeMotorA.on(false)
music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
output.largeMotorA.setPower(-30)
output.largeMotorA.on(true)
motors.largeA.stop()
music.playSoundEffectUntilDone(sounds.animalsCatPurr)
motors.largeA.setSpeed(-30)
loops.pause(100)
output.largeMotorA.on(false)
motors.largeA.stop()
})
```

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@ -3,7 +3,7 @@
This program will activate an alarm when an object is lifted from the Touch Sensor.
```blocks
input.touchSensor1.onEvent(TouchSensorEvent.Released, function () {
music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
sensors.touch1.onEvent(TouchSensorEvent.Released, function () {
music.playSoundEffectUntilDone(sounds.informationActivate);
})
```

View File

@ -4,9 +4,9 @@ This example program combined with the small model will make a beat and rhythm o
```blocks
loops.forever(function () {
output.motorA.on(50)
motors.largeA.setSpeed(50)
loops.pause(200)
output.motorA.on(100)
motors.largeA.setSpeed(100)
loops.pause(200)
})
```

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@ -3,13 +3,13 @@
This program will play different sounds when the wheel is rotated. The sound is determined by which color is placed in front of the color Sensor.
```blocks
input.color3.onColorDetected(ColorSensorColor.Blue, function () {
sensors.color3.onColorDetected(ColorSensorColor.Blue, function () {
music.playTone(Note.G4, music.beat(BeatFraction.Half))
})
input.color3.onColorDetected(ColorSensorColor.Red, function () {
sensors.color3.onColorDetected(ColorSensorColor.Red, function () {
music.playTone(Note.C5, music.beat(BeatFraction.Half))
})
input.color3.onColorDetected(ColorSensorColor.Green, function () {
sensors.color3.onColorDetected(ColorSensorColor.Green, function () {
music.playTone(Note.D5, music.beat(BeatFraction.Half))
})
```

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@ -1,8 +1,11 @@
# Reference
```namespaces
brick.showMood(moods.sleeping);
```
## See Also
[brick](/reference/brick),
[touch sensor](/reference/sensors/touch-sensor),
[color sensor](/reference/sensors/color-sensor)

31
docs/reference/brick.md Normal file
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@ -0,0 +1,31 @@
# Brick
## Screen
```cards
brick.showMood(moods.sleeping);
brick.showImage(images.expressionsBigSmile);
brick.showString("Hello world!", 1);
brick.showNumber(0, 1);
brick.showValue("item", 0, 1);
brick.clearScreen();
brick.printPorts();
```
## Buttons
```cards
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
});
brick.buttonEnter.pauseUntil(ButtonEvent.Click);
brick.buttonEnter.isPressed()
brick.buttonEnter.wasPressed()
brick.setLight(BrickLight.Red);
```
## Other
```cards
brick.batteryLevel()
```

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# battery Level
Return the current battery level.
```sig
brick.batteryLevel();
```
## Returns
* a [number](/types/number) which is the current charge level of the brick's battery. This is a percentage of total charge left in the battery.
## Example
Show the battery level percentage on the screen. Also, show a green light if the battery level is above 15%. If the battery level is below 15% but above 5%, show a orange light. But, if the battery level is below 5%, show a pulsing red light.
```blocks
let battery = 0;
loops.forever(function() {
brick.showString("Battery level:", 1)
brick.showNumber(battery, 2)
battery = brick.batteryLevel();
if (battery > 15)
{
brick.setLight(BrickLight.Green);
} else if (battery > 5) {
brick.setLight(BrickLight.Orange);
} else {
brick.setLight(BrickLight.RedPulse)
}
loops.pause(30000)
})
```

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@ -0,0 +1,53 @@
# is Pressed
Check if a button is being pressed or not.
```sig
brick.buttonEnter.isPressed()
```
## ~hint
**Touch sensors**
Your @boardname@ has touch sensors that work like buttons. Instead of saying `enter` or `left` as the source button, use a touch sensor block with a sensor name like `touch 1`.
```block
if (sensors.touch1.isPressed()) {
console.log("Hey, I feel pressed.");
}
```
Read about [touch sensors](/reference/sensors/touch-sensor) and using them as touch buttons.
## ~
## Returns
* a [boolean](types/boolean): `true` if the button is pressed, `false` if the button is not pressed
## Example
Set the brick light to green when the `down` is pressed. When the button is not pressed, the brick light is red.
```blocks
let isRed = false;
loops.forever(function() {
if (brick.buttonLeft.isPressed()) {
brick.setLight(BrickLight.Green);
isRed = false;
} else {
if (!isRed) {
brick.setLight(BrickLight.Red);
isRed = true;
}
}
})
```
## See also
[was pressed](/reference/brick/button/was-pressed),
[on event](/reference/brick/button/on-event)
[Touch sensors](/reference/sensors/touch-sensor)

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@ -0,0 +1,57 @@
# on Event
Run some code when a button is clicked, pressed down, or released.
```sig
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
});
```
## ~hint
**Touch sensors**
Your @boardname@ has touch sensors that work like buttons. Instead of saying `enter` or `left` as the source button, use a touch sensor block with a sensor name like `touch 1`.
```block
sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
brick.setLight(BrickLight.Orange);
});
```
Read about [touch sensors](/reference/sensors/touch-sensor) and using them as touch buttons.
## ~
## Parameters
* **ev**: the button action to run some code for. The button actions (events) are:
> * ``click``: button was clicked (pressed and released)
> * ``up``: button is released from just being pressed
> * ``down``: button is just pressed down
* **body**: the code you want to run when something happens with a button
## Example
Check for event on the ENTER button. Put a message on the screen when the button is pressed, clicked, or released.
```blocks
brick.showString("ENTER is: UP", 1);
brick.buttonEnter.onEvent(ButtonEvent.Up, function () {
brick.showString("ENTER is: UP ", 1);
});
brick.buttonEnter.onEvent(ButtonEvent.Down, function () {
brick.showString("ENTER is: DOWN ", 1);
});
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
brick.showString("ENTER was: CLICKED", 1);
});
```
### See also
[is pressed](/reference/brick/button/is-pressed),
[was pressed](/reference/brick/button/was-pressed),
[Touch sensor](/reference/sensors/touch-sensor)

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# pause Until
Causes your program to wait until an event at a button happens.
```sig
brick.buttonEnter.pauseUntil(ButtonEvent.Click);
```
## Parameters
* **ev**: the button action to wait for. The button actions (events) are:
> * ``click``: button was clicked (pressed and released)
> * ``up``: button is released from just being pressed
> * ``down``: button is just pressed down
## Example
Wait for the `up` button to go up before continuing with displaying a message on the screen.
```blocks
let waitTime = 0;
brick.showString("We're going to wait", 1);
brick.showString("for you to press and", 2);
brick.showString("release the UP button", 3);
waitTime = control.millis();
brick.buttonUp.pauseUntil(ButtonEvent.Click);
brick.clearScreen();
if (control.millis() - waitTime > 5000) {
brick.showString("Ok, that took awhile!", 1)
} else {
brick.showString("Ah, you let go!", 1)
}
```
## See also
[on event](/reference/brick/button/on-event)

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# was Pressed
Check if a button was pressed earlier.
```sig
brick.buttonEnter.wasPressed()
```
The fact that a button was pressed earlier is remembered. Once **was pressed** is used, this fact is forgotten and the result is `false` the next time you check with **was pressed** button _state_ is reset). But, if you press the button again before you check with **was pressed**, it will tell you `true`.
## ~hint
**Touch sensors**
Your @boardname@ has touch sensors that work like buttons. Instead of saying `enter` or `left` as the source button, use a touch sensor block with a sensor name like `touch 1`.
```block
if (sensors.touch1.wasPressed()) {
console.log("Hey, I was pressed.");
}
```
Read about [touch sensors](/reference/sensors/touch-sensor) and using them as touch buttons.
## ~
## Returns
* a [boolean](types/boolean): `true` if the button was pressed before, `false` if the button was not pressed before
## Example
Set the brick light to green if the `right` button was pressed before the `left` button. If not, the brick light is turned off when the `left` button is pressed.
```blocks
brick.buttonLeft.onEvent(ButtonEvent.Click, function() {
if (brick.buttonRight.wasPressed()) {
brick.setLight(BrickLight.Green)
} else {
brick.setLight(BrickLight.Off)
}
})
```
## See also
[is pressed](/reference/brick/button/is-pressed),
[on event](/reference/brick/button/on-event)
[Touch sensors](/reference/sensors/touch-sensor)

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@ -0,0 +1,22 @@
# clear Screen
Clear any text or numbers displayed on the screen. The screen will be blank.
```sig
brick.clearScreen();
```
## Example
Clear the screen after displaying the message.
```blocks
brick.showString("This message will", 1);
brick.showString("self-destruct in:", 2);
brick.showString("seconds", 5);
for (let i = 0; i < 10; i++) {
brick.showNumber(10 - i, 4);
loops.pause(1000);
}
brick.clearScreen();
```

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@ -0,0 +1,19 @@
# print Ports
Print the status of the ports on the screen.
```sig
brick.printPorts();
```
## Example
Show the port status.
```blocks
brick.printPorts();
```
## See also
[show string](/reference/brick/show-string), [show value](/reference/brick/show-value)

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# set Light
Set the light on the brick to a solid or flashing color.
```sig
brick.setLight(BrickLight.Red);
```
## Parameters
* **pattern**: the color or color pattern for the brick light to show. The brick light can have these color patterns:
>* `off`: brick light is off
>* `green`: solid green
>* `red`: solid red
>* `orange`: solid orange
>* `green flash`: flashing green
>* `red flash`: flashing red
>* `orange flash`: flashing orange
>* `green pulse`: pulsing green
>* `red pulse`: pulsing red
>* `orange pulse`: pulsing orange
## Example
Repeatedly show a different color pattern for the brick light.
```blocks
loops.forever(function () {
brick.setLight(BrickLight.Orange)
loops.pause(1000)
brick.setLight(BrickLight.GreenFlash)
loops.pause(2000)
brick.setLight(BrickLight.RedPulse)
loops.pause(2000)
brick.setLight(BrickLight.Off)
loops.pause(500)
})
```

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# show Image
Show an image on the brick's display.
```sig
brick.showImage(images.expressionsBigSmile);
```
You can choose one of several images to show on the display.
## Parameters
**image**: A image to show on the brick's display. Use the image picker to choose the image you want to show.
## Example
Show a sleeping image on the brick's display.
```blocks
brick.showImage(images.expressionsZzz)
```
## See also
[show image](/reference/brick/show-mood)

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# show Number
Show a number on the screen at the line you select.
```sig
brick.showNumber(0, 1);
```
## Parameters
* **value**: a [number](/types/number) to show on the brick's screen.
* **line**: The line number on the screen where the value is displayed. The line numbers for the screen start with line `1`.
## Example
Show the number `1000` on the screen.
```blocks
brick.showNumber(1000, 1);
```
## See also
[show string](/reference/brick/show-string), [show value](/reference/brick/show-value)

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@ -0,0 +1,29 @@
# show String
Show some text on a the screen at the line you select.
```sig
brick.showString("Hello world", 1)
```
## Parameters
* **text**: a [string](/types/string) to show on the brick's screen.
* **line**: the line [number](/types/number) on the screen where the text is displayed. The line numbers for the screen start with line `1`.
## Example
Show a greeting on the screen. Then, respond with another message when ENTER is pressed.
```blocks
brick.showString("Hello, I dare you to", 1);
brick.showString("press ENTER...", 2);
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
brick.showString("Hey! Don't push my", 4);
brick.showString("buttons.", 5);
});
```
## See also
[show number](/reference/brick/show-number)

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@ -0,0 +1,29 @@
# show Value
Show a name-value-pair on the screen at the line you select.
```sig
brick.showNumber("item", 0, 1);
```
Name-value-pairs are used to report data values to the screen. If you want to show the current temperature on the screen, you might use `"temp"` as the data name for the the value.
## Parameters
* **name**: a [string](/types/string) which is the name of the data value.
* **value**: a [number](/types/number) to show on the brick's screen.
* **line**: The line number on the screen where the value is displayed. The line numbers for the screen start with line `1`.
## Example
Show the current amount of ambient light detected by sensor 2.
```blocks
brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
brick.showValue("color", sensors.color2.light(LightIntensityMode.Ambient), 1)
})
```
## See also
[show number](/reference/brick/show-number)

331
docs/static/download/connect.svg vendored Normal file
View File

@ -0,0 +1,331 @@
<svg xmlns="http://www.w3.org/2000/svg" width="261.3" height="109.3" viewBox="0 0 69.1 28.9" id="svg9461">
<defs id="defs9455">
<clipPath id="clipPath8689">
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</clipPath>
<clipPath id="clipPath8663">
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</clipPath>
<clipPath id="clipPath8647">
<path d="M0 1145.9h1366V0H0z" id="path8645"/>
</clipPath>
<linearGradient x2="1" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0 .6661 -.32488 0 300.7 115)" id="linearGradient8637">
<stop offset="0" id="stop8633" stop-color="#757575"/>
<stop offset="1" id="stop8635" stop-color="#393939"/>
</linearGradient>
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<stop offset="0" id="stop8579" stop-color="#6a6a6a"/>
<stop offset=".5" id="stop8581" stop-color="#48e400"/>
<stop offset="1" id="stop8583" stop-color="#6a6a6a"/>
</linearGradient>
<clipPath id="clipPath8561">
<path d="M0 1145.9h1366V0H0z" id="path8559"/>
</clipPath>
<linearGradient x2="1" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0 -1.33016 5.597 0 300.7 88.4)" id="linearGradient8551">
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</linearGradient>
<clipPath id="clipPath8525">
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@ -8,7 +8,7 @@ import { FieldSpeed } from "./field_speed";
import { FieldBrickButtons } from "./field_brickbuttons";
import { FieldTurnRatio } from "./field_turnratio";
pxt.editor.initExtensionsAsync = function(opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
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 = {
@ -28,7 +28,95 @@ pxt.editor.initExtensionsAsync = function(opts: pxt.editor.ExtensionOptions): Pr
selector: "turnratio",
editor: FieldTurnRatio
}],
deployCoreAsync
deployCoreAsync,
showUploadInstructionsAsync: (fn: string, url: string, confirmAsync: (options: any) => Promise<number>) => {
let resolve: (thenableOrResult?: void | PromiseLike<void>) => void;
let reject: (error: any) => void;
const deferred = new Promise<void>((res, rej) => {
resolve = res;
reject = rej;
});
const boardName = pxt.appTarget.appTheme.boardName || "???";
const boardDriveName = pxt.appTarget.appTheme.driveDisplayName || pxt.appTarget.compile.driveName || "???";
// https://msdn.microsoft.com/en-us/library/cc848897.aspx
// "For security reasons, data URIs are restricted to downloaded resources.
// Data URIs cannot be used for navigation, for scripting, or to populate frame or iframe elements"
const downloadAgain = !pxt.BrowserUtils.isIE() && !pxt.BrowserUtils.isEdge();
const docUrl = pxt.appTarget.appTheme.usbDocs;
const saveAs = pxt.BrowserUtils.hasSaveAs();
const htmlBody = `
<div class="ui three column grid stackable">
<div class="column">
<div class="ui">
<div class="image">
<img class="ui medium rounded image" src="./static/download/connect.svg" style="height:109px;width:261px;margin-bottom:1rem;">
</div>
<div class="content">
<div class="description">
<span class="ui yellow circular label">1</span>
<strong>${lf("Connect EV3 to computer with USB cable")}</strong>
<br/>
${lf("Use the miniUSB port on top of EV3 brick")}
</div>
</div>
</div>
</div>
<div class="column">
<div class="ui">
<div class="image">
<img class="ui medium rounded image" src="./static/download/firmware.svg" style="height:109px;width:261px;margin-bottom:1rem;">
</div>
<div class="content">
<div class="description">
<span class="ui blue circular label">2</span>
<strong>${lf("Make sure you have the latest EV3 firmware")}</strong>
<br/>
<a href="" target="_blank">${lf("Click here to update to latest firmware")}</a>
</div>
</div>
</div>
</div>
<div class="column">
<div class="ui">
<div class="image">
<img class="ui medium rounded image" src="./static/download/transfer.svg" style="height:109px;width:261px;margin-bottom:1rem;">
</div>
<div class="content">
<div class="description">
<span class="ui blue circular label">3</span>
${lf("Move the .uf2 file to EV3 brick")}
<br/>
${lf("Locate the downloaded .uf2 file and drag it to the EV3 drive")}
</div>
</div>
</div>
</div>
</div>`;
return confirmAsync({
header: lf("Download to your EV3"),
htmlBody,
hasCloseIcon: true,
hideCancel: true,
hideAgree: false,
agreeLbl: lf("I got it"),
buttons: [downloadAgain ? {
label: fn,
icon: "download",
class: "lightgrey focused",
url,
fileName: fn
} : undefined, docUrl ? {
label: lf("Help"),
icon: "help",
class: "lightgrey",
url: docUrl
} : undefined]
//timeout: 20000
}).then(() => { });
}
};
initAsync().catch(e => {
// probably no HID - we'll try this again upon deployment

View File

@ -40,7 +40,9 @@ export class FieldSpeed extends Blockly.FieldSlider implements Blockly.FieldCust
var labelContainer = document.createElement('div');
this.speedSVG = document.createElementNS("http://www.w3.org/2000/svg", "svg") as SVGGElement;
pxsim.svg.hydrate(this.speedSVG, {
viewBox: "0 0 200 100"
viewBox: "0 0 200 100",
width: "200",
height: "100"
});
labelContainer.appendChild(this.speedSVG);
@ -58,7 +60,7 @@ export class FieldSpeed extends Blockly.FieldSlider implements Blockly.FieldCust
this.reporter = pxsim.svg.child(this.speedSVG, "text", {
'x': 100, 'y': 80,
'text-anchor': 'middle', 'alignment-baseline': 'middle',
'text-anchor': 'middle', 'dominant-baseline': 'middle',
'style': 'font-size: 50px',
'class': 'sim-text inverted number'
}) as SVGTextElement;

View File

@ -56,7 +56,7 @@ export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.Field
}, marker);
this.reporter_ = pxsim.svg.child(svg, "text", {
'x': FieldTurnRatio.HALF, 'y': 96,
'text-anchor': 'middle', 'alignment-baseline': 'middle',
'text-anchor': 'middle', 'dominant-baseline': 'middle',
'style': 'font-size: 50px',
'class': 'sim-text inverted number'
}) as SVGTextElement;

View File

@ -0,0 +1,26 @@
{
"automation": "Automation, process control and robotic controllers",
"automation.Behavior": "A behavior",
"automation.Behavior.update": "Called on each behavior iteration even for suppresed behaviors",
"automation.Behavior.update|param|elapsed": "milli seconds since last call",
"automation.BehaviorManager": "A manager for behaviors",
"automation.BehaviorManager.add": "Adds a new behavior to the behavior manager",
"automation.BehaviorManager.add|param|behavior": "the behavior to add",
"automation.BehaviorManager.start": "Starts the behavior control loop",
"automation.BehaviorManager.stop": "Stops the execution loop",
"automation.PIDController": "A PID controller.\n* Reference: Feedback System, Karl Johan Astrom & Rickard M. Murry",
"automation.PIDController.compute": "Computes the output based on the system state",
"automation.PIDController.setControlSaturation": "Sets the control saturation values",
"automation.PIDController.setControlSaturation|param|high": "highest control value, eg: 100",
"automation.PIDController.setControlSaturation|param|low": "lowest control value, eg: -100",
"automation.PIDController.setDerivativeFilter": "Sets the derivative filter gain",
"automation.PIDController.setDerivativeFilter|param|N": "the filter gain, eg:10",
"automation.PIDController.setGains": "Sets the PID gains",
"automation.PIDController.setGains|param|b": "setpoint weight, eg: 0.9",
"automation.PIDController.setGains|param|kd": "derivative gain",
"automation.PIDController.setGains|param|ki": "integral gain",
"automation.PIDController.setGains|param|kp": "proportional gain",
"automation.PIDController.setPoint": "Updates the desired setpoint",
"automation.addBehavior": "Adds the behavior and starts it",
"automation.addBehavior|param|behavior": "a behavior"
}

View File

@ -0,0 +1,12 @@
{
"automation.PIDController.compute|block": "%pid|compute for timestep %timestep|(ms) at state %y",
"automation.PIDController.setControlSaturation|block": "set %pid|control saturation from %low|to %high",
"automation.PIDController.setDerivativeFilter|block": "set %pid|derivative filter %N",
"automation.PIDController.setGains|block": "set %pid|gains kp %kp|ki %ki|kd %kd",
"automation.PIDController.setPoint|block": "set %pid|point to %ysp",
"automation.addBehavior|block": "add behavior %behavior",
"automation|block": "automation",
"{id:category}Automation": "Automation",
"{id:group}Behaviors": "Behaviors",
"{id:group}PID": "PID"
}

View File

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

View File

@ -134,7 +134,7 @@
"control.panic": "Display an error code and stop the program.",
"control.panic|param|code": "an error number to display. eg: 5",
"control.reset": "Reset the device.",
"control.runInBackground": "Run other code in the background.",
"control.runInParallel": "Run other code in the parallel.",
"control.waitForEvent": "Blocks the calling thread until the specified event is raised.",
"control.waitMicros": "Block the current fiber for the given microseconds",
"control.waitMicros|param|micros": "number of micro-seconds to wait. eg: 4",

View File

@ -25,10 +25,11 @@
"control.onEvent|block": "on event|from %src|with value %value",
"control.panic|block": "panic %code",
"control.reset|block": "reset",
"control.runInBackground|block": "run in background",
"control.runInParallel|block": "run in parallel",
"control.waitForEvent|block": "wait for event|from %src|with value %value",
"control.waitMicros|block": "wait (µs)%micros",
"control|block": "control",
"fieldeditors|block": "fieldeditors",
"loops.forever|block": "forever",
"loops.pause|block": "pause %pause=timePicker|ms",
"loops|block": "loops",

View File

@ -17,7 +17,8 @@
"control.cpp",
"control.ts",
"serial.cpp",
"serial.ts"
"serial.ts",
"fieldeditors.ts"
],
"testFiles": [
"test.ts"

View File

@ -118,11 +118,11 @@ declare namespace control {
function waitMicros(micros: int32): void;
/**
* Run other code in the background.
* Run other code in the parallel.
*/
//% help=control/run-in-background blockAllowMultiple=1 afterOnStart=true
//% blockId="control_run_in_background" block="run in background" blockGap=8 shim=control::runInBackground
function runInBackground(a: () => void): void;
//% help=control/run-in-parallel handlerStatement=1
//% blockId="control_run_in_parallel" block="run in parallel" blockGap=8 shim=control::runInParallel
function runInParallel(a: () => void): void;
/**
* Blocks the calling thread until the specified event is raised.

View File

@ -1,14 +0,0 @@
{
"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"
}

View File

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

View File

@ -1,56 +0,0 @@
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=motorSpeedPicker|%"
export function driveForward(motors: motors.MotorBase, speed: number): behaviors.Behavior {
return new DriveForwardBehavior(motors, speed);
}
}

View File

@ -1,3 +1,5 @@
<xml xmlns="http://www.w3.org/1999/xhtml">
<block type="forever"></block>
<variables></variables>
<block type="pxt-on-start" x="0" y="0"></block>
<block type="forever" x="176" y="0"></block>
</xml>

View File

@ -1,11 +1,10 @@
{
"chassis": "A differential drive robot",
"chassis.Chassis": "A differential drive robot",
"chassis.Chassis.drive": "Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)\nusing a unicycle model.",
"chassis.Chassis.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
"chassis.Chassis.drive|param|speed": "speed of the center point between motors, eg: 10",
"chassis.Chassis.drive|param|value": "the amount of movement, eg: 2",
"chassis.Chassis.setBaseLength": "Sets the base length in centimeters",
"chassis.Chassis.setMotors": "Sets the motors used by the chassis, default is B+C",
"chassis.Chassis.setProperty": "Sets a property of the robot",
"chassis.Chassis.setProperty|param|property": "the property to set",
"chassis.Chassis.setProperty|param|value": "the value to set"
"chassis.Chassis.setWheelRadius": "Sets the wheel radius in centimeters"
}

View File

@ -1,9 +1,8 @@
{
"ChassisProperty.BaseLength|block": "base length (cm)",
"ChassisProperty.WheelRadius|block": "wheel radius (cm)",
"chassis.Chassis.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s",
"chassis.Chassis.setBaseLength|block": "set %chassis|base length to %cm|(cm)",
"chassis.Chassis.setMotors|block": "set %chassis|motors to %motors",
"chassis.Chassis.setProperty|block": "set %chassis|%property|to %value",
"chassis.Chassis.setWheelRadius|block": "set %chassis|wheel radius to %cm|(cm)",
"chassis|block": "chassis",
"{id:category}Chassis": "Chassis"
}

View File

@ -1,10 +1,7 @@
enum ChassisProperty {
//% block="wheel radius (cm)"
WheelRadius,
//% block="base length (cm)"
BaseLength
}
/**
* A differential drive robot
*/
//% weight=50 color=#cf00cf
namespace chassis {
/**
* A differential drive robot
@ -29,13 +26,17 @@ namespace chassis {
* 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
*/
* @param distance
**/
//% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s"
//% inlineInputMode=inline
//% weight=95 blockGap=8
drive(speed: number, rotationSpeed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
drive(speed: number, rotationSpeed: number, distance: number = 0) {
if (!speed) {
this.motors.stop();
return;
}
// speed is expressed in %
const R = this.wheelRadius; // cm
const L = this.baseLength; // cm
@ -52,26 +53,30 @@ namespace chassis {
const sr = vr / maxw * 100; // %
const sl = vl / maxw * 100; // %
this.motors.tank(sr, sl, value, unit)
// cm / (cm/s) = s
const seconds = distance / speed;
this.motors.tank(sr, sl, seconds, MoveUnit.Seconds)
}
/**
* Sets a property of the robot
* @param property the property to set
* @param value the value to set
* Sets the wheel radius in centimeters
* @param cm
*/
//% blockId=chassisSetProperty block="set %chassis|%property|to %value"
//% blockGap=8
//% weight=10
setProperty(property: ChassisProperty, value: number) {
switch (property) {
case ChassisProperty.WheelRadius:
this.wheelRadius = Math.max(0.1, value); break;
case ChassisProperty.BaseLength:
this.baseLength = Math.max(0.1, value); break;
}
//% blockId=chassisSetWheelRadius block="set %chassis|wheel radius to %cm|(cm)"
setWheelRadius(cm: number) {
this.wheelRadius = cm;
}
/**
* Sets the base length in centimeters
* @param cm
*/
//% blockId=chassisSetBaseLength block="set %chassis|base length to %cm|(cm)"
setBaseLength(cm: number) {
this.baseLength = cm;
}
/**
* Sets the motors used by the chassis, default is B+C
* @param motors
@ -81,6 +86,10 @@ namespace chassis {
setMotors(motors: motors.SynchedMotorPair) {
this.motors = motors;
}
toString(): string {
return `chassis base ${this.baseLength}, wheel ${this.wheelRadius}`;
}
}
//% fixedInstance whenUsed

View File

@ -1,5 +1,6 @@
{
"sensors.ColorSensor": "The color sensor is a digital sensor that can detect the color or intensity\nof light that enters the small window on the face of the sensor.",
"sensors.ColorSensor.calibrateLight": "Collects measurement of the light condition and adjusts the threshold to 10% / 90%.",
"sensors.ColorSensor.color": "Get the current color from the color sensor.",
"sensors.ColorSensor.colorMode": "Gets the current color mode",
"sensors.ColorSensor.light": "Measures the ambient or reflected light value from 0 (darkest) to 100 (brightest).",
@ -14,5 +15,8 @@
"sensors.ColorSensor.pauseForLight": "Waits for the given color to be detected",
"sensors.ColorSensor.setThreshold": "Sets a threshold value",
"sensors.ColorSensor.setThreshold|param|condition": "the dark or bright light condition",
"sensors.ColorSensor.setThreshold|param|value": "the value threshold"
"sensors.ColorSensor.setThreshold|param|value": "the value threshold",
"sensors.ColorSensor.threshold": "Gets the threshold value",
"sensors.ColorSensor.threshold|param|condition": "the light condition",
"sensors.color": "Returns a color that the sensor can detect"
}

View File

@ -13,6 +13,7 @@
"LightCondition.Dark|block": "dark",
"LightIntensityMode.Ambient|block": "ambient light",
"LightIntensityMode.Reflected|block": "reflected light",
"sensors.ColorSensor.calibrateLight|block": "calibrate|%sensor|for %mode|light",
"sensors.ColorSensor.color|block": "%sensor| color",
"sensors.ColorSensor.light|block": "%sensor|%mode",
"sensors.ColorSensor.onColorDetected|block": "on %sensor|detected color %color",
@ -20,10 +21,12 @@
"sensors.ColorSensor.pauseForColor|block": "pause %sensor|for color %color",
"sensors.ColorSensor.pauseForLight|block": "pause %sensor|for %mode|%condition",
"sensors.ColorSensor.setThreshold|block": "set %sensor|%condition|to %value",
"sensors.ColorSensor.threshold|block": "%sensor|%condition",
"sensors.color1|block": "color 1",
"sensors.color2|block": "color 2",
"sensors.color3|block": "color 3",
"sensors.color4|block": "color 4",
"sensors.color|block": "color %color",
"sensors|block": "sensors",
"{id:category}Sensors": "Sensors",
"{id:group}Color Sensor": "Color Sensor",

View File

@ -19,29 +19,29 @@ enum LightIntensityMode {
}
const enum ColorSensorColor {
//% block="none"
//% block="none" blockIdentity=sensors.color
None,
//% block="black"
//% block="black" blockIdentity=sensors.color
Black,
//% block="blue"
//% block="blue" blockIdentity=sensors.color
Blue,
//% block="green"
//% block="green" blockIdentity=sensors.color
Green,
//% block="yellow"
//% block="yellow" blockIdentity=sensors.color
Yellow,
//% block="red"
//% block="red" blockIdentity=sensors.color
Red,
//% block="white"
//% block="white" blockIdentity=sensors.color
White,
//% block="brown"
//% block="brown" blockIdentity=sensors.color
Brown,
}
enum LightCondition {
//% block="dark"
Dark = sensors.internal.ThresholdState.Low,
Dark = sensors.ThresholdState.Low,
//$ block="bright"
Bright = sensors.internal.ThresholdState.High
Bright = sensors.ThresholdState.High
}
namespace sensors {
@ -52,12 +52,14 @@ namespace sensors {
*/
//% fixedInstances
export class ColorSensor extends internal.UartSensor {
thresholdDetector: sensors.internal.ThresholdDetector;
thresholdDetector: sensors.ThresholdDetector;
calibrating: boolean;
constructor(port: number) {
super(port)
this._setMode(ColorSensorMode.None);
this.thresholdDetector = new sensors.internal.ThresholdDetector(this.id());
this.thresholdDetector = new sensors.ThresholdDetector(this.id());
this.calibrating = false;
}
_colorEventValue(value: number) {
@ -95,6 +97,7 @@ namespace sensors {
}
_update(prev: number, curr: number) {
if (this.calibrating) return; // simply ignore data updates while calibrating
if (this.mode == ColorSensorMode.Color)
control.raiseEvent(this._id, this._colorEventValue(curr));
else
@ -154,6 +157,7 @@ namespace sensors {
//% sensor.fieldEditor="ports"
//% weight=98
//% group="Color Sensor"
//% blockGap=8
color(): ColorSensorColor {
this.setMode(ColorSensorMode.Color)
return this.getNumber(NumberFormat.UInt8LE, 0)
@ -230,18 +234,88 @@ namespace sensors {
//% blockId=colorSetThreshold block="set %sensor|%condition|to %value"
//% group="Threshold" blockGap=8 weight=90
//% value.min=0 value.max=100
//% sensor.fieldEditor="ports"
setThreshold(condition: LightCondition, value: number) {
if (condition == LightCondition.Dark)
this.thresholdDetector.setLowThreshold(value)
else
this.thresholdDetector.setHighThreshold(value);
}
/**
* Gets the threshold value
* @param condition the light condition
*/
//% blockId=colorGetThreshold block="%sensor|%condition"
//% group="Threshold" blockGap=8 weight=89
//% sensor.fieldEditor="ports"
threshold(condition: LightCondition): number {
return this.thresholdDetector.threshold(<ThresholdState><number>LightCondition.Dark);
}
/**
* Collects measurement of the light condition and adjusts the threshold to 10% / 90%.
*/
//% blockId=colorCalibrateLight block="calibrate|%sensor|for %mode|light"
//% group="Threshold" weight=91 blockGap=8
//% sensor.fieldEditor="ports"
calibrateLight(mode: LightIntensityMode, deviation: number = 8) {
this.calibrating = true; // prevent events
this.light(mode); // trigger a read
pauseUntil(() => this.isActive()); // ensure sensor is live
let vold = 0;
let vcount = 0;
let min = 200;
let max = -200;
let k = 0;
while (k++ < 1000 && vcount < 50) {
let v = this.light(mode);
min = Math.min(min, v);
max = Math.max(max, v);
// detect if nothing has changed and stop calibration
if (Math.abs(v - vold) <= 2)
vcount++;
else {
vold = v;
vcount = 1;
}
// wait a bit
loops.pause(50);
}
// apply tolerance
const minDist = 10;
min = Math.max(minDist / 2, Math.min(min + deviation / 2, max - deviation / 2 - minDist / 2));
max = Math.min(100 - minDist / 2, Math.max(min + minDist, max - deviation / 2));
// apply thresholds
this.thresholdDetector.setLowThreshold(min);
this.thresholdDetector.setHighThreshold(max);
this.calibrating = false;
}
}
//% whenUsed block="color 3" weight=90 fixedInstance jres=icons.port3
/**
* Returns a color that the sensor can detect
*/
//% shim=TD_ID
//% blockId=colorSensorColor block="color %color"
//% group="Color Sensor"
//% weight=97
export function color(color: ColorSensorColor): ColorSensorColor {
return color;
}
//% whenUsed block="color 3" weight=95 fixedInstance jres=icons.port3
export const color3: ColorSensor = new ColorSensor(3)
//% whenUsed block="color 1" weight=95 fixedInstance jres=icons.port1
//% whenUsed block="color 1" weight=90 fixedInstance jres=icons.port1
export const color1: ColorSensor = new ColorSensor(1)
//% whenUsed block="color 2" weight=90 fixedInstance jres=icons.port2

View File

@ -3,9 +3,9 @@
```blocks
loops.forever(function () {
if (sensors.color1.ambientLight() > 20) {
brick.setStatusLight(LightsPattern.Green)
brick.setLight(BrickLight.Green)
} else {
brick.setStatusLight(LightsPattern.Orange)
brick.setLight(BrickLight.Orange)
}
})
```

View File

@ -3,9 +3,9 @@
```blocks
loops.forever(function () {
if (sensors.color1.color() == ColorSensorColor.Green) {
brick.setStatusLight(LightsPattern.Green)
brick.setLight(BrickLight.Green)
} else {
brick.setStatusLight(LightsPattern.Orange)
brick.setLight(BrickLight.Orange)
}
})
```

View File

@ -3,9 +3,9 @@
```blocks
loops.forever(function () {
if (sensors.color1.reflectedLight() > 20) {
brick.setStatusLight(LightsPattern.Green)
brick.setLight(BrickLight.Green)
} else {
brick.setStatusLight(LightsPattern.Orange)
brick.setLight(BrickLight.Orange)
}
})
```

View File

@ -29,11 +29,11 @@
"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.printPorts": "Prints the port states on the screen",
"brick.clearScreen": "Clear the screen",
"brick.printPorts": "Print the port states on the screen",
"brick.setLight": "Set lights.",
"brick.setLight|param|pattern": "the lights pattern to use. eg: BrickLight.Orange",
"brick.showImage": "Shows an image on screen",
"brick.showImage": "Show an image on the screen",
"brick.showImage|param|image": "image to draw",
"brick.showNumber": "Shows a number on the screen",
"brick.showNumber|param|line": "the line number to print the text at, eg: 1",

View File

@ -63,13 +63,13 @@
"control|block": "control",
"motors.Motor.angle|block": "%motor|angle",
"motors.Motor.clearCounts|block": "%motor|clear counts",
"motors.Motor.setRegulated|block": "set %motor|regulated %value",
"motors.Motor.setRegulated|block": "set %motor|regulated %value=toggleOnOff",
"motors.Motor.speed|block": "%motor|speed",
"motors.Motor.tacho|block": "%motor|tacho",
"motors.MotorBase.pauseUntilReady|block": "%motor|pause until ready",
"motors.MotorBase.reset|block": "%motors|reset",
"motors.MotorBase.setBrake|block": "set %motor|brake %brake",
"motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
"motors.MotorBase.setBrake|block": "set %motor|brake %brake=toggleOnOff",
"motors.MotorBase.setReversed|block": "set %motor|reversed %reversed=toggleOnOff",
"motors.MotorBase.setSpeed|block": "set %motor|speed to %speed=motorSpeedPicker|%",
"motors.MotorBase.stop|block": "%motors|stop",
"motors.SynchedMotorPair.steer|block": "steer %chassis|turn ratio %turnRatio=motorTurnRatioPicker|speed %speed=motorSpeedPicker|%",
@ -101,6 +101,7 @@
"{id:category}Motors": "Motors",
"{id:category}Output": "Output",
"{id:category}Screen": "Screen",
"{id:category}Sensors": "Sensors",
"{id:category}Serial": "Serial",
"{id:group}Buttons": "Buttons",
"{id:group}Counters": "Counters",

View File

@ -5,6 +5,7 @@ namespace brick {
*/
//% blockId=brickBatteryLevel block="battery level"
//% group="More"
//% help=brick/battery-level
export function batteryLevel(): number {
const info = sensors.internal.getBatteryInfo();
return info.current;

View File

@ -4,34 +4,24 @@
*/
const enum BrickLight {
//% block=off enumval=0
//% blockIdentity=brick.lightPattern
Off = 0,
//% block=green enumval=1
//% blockIdentity=brick.lightPattern
Green = 1,
//% block=red enumval=2
//% blockIdentity=brick.lightPattern
Red = 2,
//% block=orange enumval=3
//% blockIdentity=brick.lightPattern
Orange = 3,
//% block="green flash" enumval=4
//% blockIdentity=brick.lightPattern
GreenFlash = 4,
//% block="red flash" enumval=5
//% blockIdentity=brick.lightPattern
RedFlash = 5,
//% block="orange flash" enumval=6
//% blockIdentity=brick.lightPattern
OrangeFlash = 6,
//% block="green pulse" enumval=7
//% blockIdentity=brick.lightPattern
GreenPulse = 7,
//% block="red pulse" enumval=8
//% blockIdentity=brick.lightPattern
RedPulse = 8,
//% block="orange pulse" enumval=9
//% blockIdentity=brick.lightPattern
OrangePulse = 9,
}
@ -85,7 +75,7 @@ namespace brick {
* Check if button is currently pressed or not.
* @param button the button to query the request
*/
//% help=input/button/is-pressed
//% help=brick/button/is-pressed
//% block="%button|is pressed"
//% blockId=buttonIsPressed
//% parts="brick"
@ -101,7 +91,7 @@ namespace brick {
* See if the button was pressed again since the last time you checked.
* @param button the button to query the request
*/
//% help=input/button/was-pressed
//% help=brick/button/was-pressed
//% block="%button|was pressed"
//% blockId=buttonWasPressed
//% parts="brick"
@ -121,7 +111,7 @@ namespace brick {
* @param event the kind of button gesture that needs to be detected
* @param body code to run when the event is raised
*/
//% help=input/button/on-event
//% help=brick/button/on-event
//% blockId=buttonEvent block="on %button|%event"
//% parts="brick"
//% blockNamespace=brick
@ -136,7 +126,7 @@ namespace brick {
* Waits until the event is raised
* @param ev the event to wait for
*/
//% help=input/button/pause-until
//% help=brick/button/pause-until
//% blockId=buttonWaitUntil block="pause until %button|%event"
//% parts="brick"
//% blockNamespace=brick
@ -261,6 +251,7 @@ namespace brick {
*/
//% blockId=setLights block="set light to %pattern"
//% weight=100 group="Buttons"
//% help=brick/set-light
export function setLight(pattern: BrickLight): void {
if (currPattern === pattern)
return

View File

@ -11,7 +11,7 @@ namespace sensors.internal {
// This is implementation for the simulator.
control.runInBackground(() => {
control.runInParallel(() => {
let prev = query()
changeHandler(prev, prev)
while (true) {
@ -196,83 +196,6 @@ namespace sensors.internal {
}
}
export enum ThresholdState {
Normal = 1,
High = 2,
Low = 3,
}
export class ThresholdDetector {
public id: number;
private min: number;
private max: number;
private lowThreshold: number;
private highThreshold: number;
private level: number;
public state: ThresholdState;
constructor(id: number, min = 0, max = 100, lowThreshold = 20, highThreshold = 80) {
this.id = id;
this.min = min;
this.max = max;
this.lowThreshold = lowThreshold;
this.highThreshold = highThreshold;
this.level = Math.ceil((max - min) / 2);
this.state = ThresholdState.Normal;
}
public setLevel(level: number) {
if (this == null) return
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 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:
control.raiseEvent(this.id, ThresholdState.High);
break;
case ThresholdState.Low:
control.raiseEvent(this.id, ThresholdState.Low);
break;
case ThresholdState.Normal:
break;
}
}
}
export class UartSensor extends Sensor {
protected mode: number // the mode user asked for
protected realmode: number // the mode the hardware is in
@ -499,3 +422,91 @@ namespace sensors.internal {
TST_UART_WRITE = 0xc048740a,
}
}
namespace sensors {
export enum ThresholdState {
Normal = 1,
High = 2,
Low = 3,
}
export class ThresholdDetector {
public id: number;
public min: number;
public max: number;
public lowThreshold: number;
public highThreshold: number;
public level: number;
public state: ThresholdState;
constructor(id: number, min = 0, max = 100, lowThreshold = 20, highThreshold = 80) {
this.id = id;
this.min = min;
this.max = max;
this.lowThreshold = lowThreshold;
this.highThreshold = highThreshold;
this.level = Math.ceil((max - min) / 2);
this.state = ThresholdState.Normal;
}
public setLevel(level: number) {
if (this == null) return
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 {
const interval = (this.highThreshold - this.lowThreshold) / 6;
if ((this.state == ThresholdState.High && this.level < this.highThreshold - interval) ||
(this.state == ThresholdState.Low && this.level > this.lowThreshold + interval))
this.setState(ThresholdState.Normal);
}
}
public threshold(t: ThresholdState): number {
switch(t) {
case ThresholdState.High: return this.highThreshold;
case ThresholdState.Low: return this.lowThreshold;
default: return (this.max - this.min) / 2;
}
}
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:
control.raiseEvent(this.id, ThresholdState.High);
break;
case ThresholdState.Low:
control.raiseEvent(this.id, ThresholdState.Low);
break;
}
}
}
}

View File

@ -271,7 +271,12 @@ void setupThread(Action a, TValue arg = 0, void (*runner)(Thread *) = NULL, TVal
}
}
void runInBackground(Action a) {
void releaseFiber() {
stopUser();
pthread_exit(NULL);
}
void runInParallel(Action a) {
setupThread(a);
}

View File

@ -161,8 +161,7 @@ namespace motors {
* 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 %motor|brake %brake"
//% brake.fieldEditor=toggleonoff
//% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake=toggleOnOff"
//% weight=60 blockGap=8
//% group="Move"
setBrake(brake: boolean) {
@ -173,8 +172,7 @@ namespace motors {
/**
* Reverses the motor polarity
*/
//% blockId=motorSetReversed block="set %motor|reversed %reversed"
//% reversed.fieldEditor=toggleonoff
//% blockId=motorSetReversed block="set %motor|reversed %reversed=toggleOnOff"
//% weight=59 blockGap=8
//% group="Move"
setReversed(reversed: boolean) {
@ -193,6 +191,14 @@ namespace motors {
stop() {
this.init();
stop(this._port, this._brake);
this.settle();
}
private settle() {
// if we've recently completed a motor command with brake
// allow 500ms for robot to settle
if(this._brake)
loops.pause(500);
}
/**
@ -253,6 +259,8 @@ namespace motors {
this._move(useSteps, stepsOrTime, speed);
// wait till motor is done with this work
this.pauseUntilReady();
// allow robot to settle
this.settle();
}
/**
@ -327,8 +335,7 @@ namespace motors {
* Indicates if the motor speed should be regulated. Default is true.
* @param value true for regulated motor
*/
//% blockId=outputMotorSetRegulated block="set %motor|regulated %value"
//% value.fieldEditor=toggleonoff
//% blockId=outputMotorSetRegulated block="set %motor|regulated %value=toggleOnOff"
//% weight=58
//% group="Move"
setRegulated(value: boolean) {

View File

@ -72,6 +72,7 @@ namespace brick {
*/
//% blockId=screen_print block="show string %text|at line %line"
//% weight=98 group="Screen" inlineInputMode="inline" blockGap=8
//% help=brick/show-string
//% line.min=1 line.max=10
export function showString(text: string, line: number) {
const NUM_LINES = 9;
@ -87,6 +88,7 @@ namespace brick {
*/
//% blockId=screenShowNumber block="show number %name|at line %line"
//% weight=96 group="Screen" inlineInputMode="inline" blockGap=8
//% help=brick/show-number
//% line.min=1 line.max=10
export function showNumber(value: number, line: number) {
showString("" + value, line);
@ -99,6 +101,7 @@ namespace brick {
*/
//% blockId=screenShowValue block="show value %name|= %text|at line %line"
//% weight=96 group="Screen" inlineInputMode="inline" blockGap=8
//% help=brick/show-value
//% line.min=1 line.max=10
export function showValue(name: string, value: number, line: number) {
value = Math.round(value * 1000) / 1000;
@ -136,11 +139,12 @@ namespace brick {
}
/**
* Shows an image on screen
* Show an image on the screen
* @param image image to draw
*/
//% blockId=screen_show_image block="show image %image=screen_image_picker"
//% weight=100 group="Screen" blockGap=8
//% help=brick/show-image
export function showImage(image: Image) {
if (!image) return;
image.draw(0, 0, Draw.Normal);
@ -160,10 +164,11 @@ namespace brick {
}
/**
* Clears the screen
* Clear the screen
*/
//% blockId=screen_clear_screen block="clear screen"
//% weight=90 group="Screen"
//% help=brick/clear-screen
export function clearScreen() {
screen.clear();
}
@ -208,9 +213,10 @@ namespace brick {
}
/**
* Prints the port states on the screen
* Print the port states on the screen
*/
//% blockId=brickPrintPorts block="print ports"
//% help=brick/print-ports
//% weight=1 group="Screen"
export function printPorts() {
const col = 44;

View File

@ -1,3 +0,0 @@
# Datalog
A tiny libraty to create CSV datalog files.

View File

@ -1,11 +1,17 @@
{
"datalog": "A data logging framework",
"datalog.DatalogStorage": "A storage for datalog data",
"datalog.DatalogStorage.appendHeaders": "Appends the headers in datalog",
"datalog.DatalogStorage.appendRow": "Appends a row of data",
"datalog.DatalogStorage.flush": "Flushes any buffered data",
"datalog.DatalogStorage.init": "Initializes the storage",
"datalog.addRow": "Starts a row of data",
"datalog.addValue": "Adds a cell to the row of data",
"datalog.addValue|param|name": "name of the cell, eg: \"x\"",
"datalog.addValue|param|value": "value of the cell, eg: 0",
"datalog.flush": "Commits any buffered row to disk",
"datalog.setEnabled": "Turns on or off datalogging",
"datalog.setFile": "Starts a new data logger for the given file",
"datalog.setFile|param|filename": "the filename, eg: \"datalog.csv\"",
"datalog.setSampleInterval": "Sets the minimum number of milli seconds between rows",
"datalog.setSampleInterval|param|millis": "milliseconds between each sample, eg: 50",
"datalog.setStorage": "* @param storage custom storage solution"
}

View File

@ -1,7 +1,8 @@
{
"datalog.addRow|block": "datalog add row",
"datalog.addValue|block": "datalog add %name|=%value",
"datalog.setEnabled|block": "datalog %enabled",
"datalog.setEnabled|block": "datalog %enabled=toggleOnOff",
"datalog.setSampleInterval|block": "set datalog sampling interval to %millis|(ms)",
"datalog|block": "datalog",
"{id:category}Datalog": "Datalog"
}

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@ -1,122 +0,0 @@
//% weight=100 color=#0fbc11 icon=""
namespace datalog {
let _headers: string[] = undefined;
let _headersLength: number;
let _values: number[];
let _buffer: string = "";
let _start: number;
let _filename = "datalog.csv";
let _storage: storage.Storage = storage.temporary;
let _enabled = true;
function clear() {
_headers = undefined;
_values = undefined;
_buffer = "";
}
function init() {
if (!_headers) {
_headers = [];
_headersLength = 0;
_start = control.millis();
_storage.remove(_filename);
}
_values = [];
}
function commit() {
// write row if any data
if (_values && _values.length > 0) {
// write headers for the first row
if (!_headersLength) {
_storage.appendCSVHeaders(_filename, _headers);
_headersLength = _storage.size(_filename);
}
// commit row data
_buffer += storage.toCSV(_values, _storage.csvSeparator);
// buffered writes
if (_buffer.length > 1024)
flush();
}
// clear values
_values = undefined;
}
/**
* Starts a row of data
*/
//% weight=100
//% blockId=datalogAddRow block="datalog add row"
export function addRow(): void {
if (!_enabled) return;
commit();
init();
const s = (control.millis() - _start) / 1000;
addValue("time (s)", s);
}
/**
* Adds a cell to the row of data
* @param name name of the cell, eg: "x"
* @param value value of the cell, eg: 0
*/
//% weight=99
//% blockId=datalogAddValue block="datalog add %name|=%value"
export function addValue(name: string, value: number) {
if (!_values) return;
let i = _headers.indexOf(name);
if (i < 0) {
_headers.push(name);
i = _headers.length - 1;
}
_values[i] = value;
}
/**
* Starts a new data logger for the given file
* @param filename the filename, eg: "datalog.csv"
*/
//%
export function setFile(filename: string) {
flush();
_filename = filename;
clear();
}
/**
*
* @param storage custom storage solution
*/
//%
export function setStorage(storage: storage.Storage) {
flush();
_storage = storage;
clear();
}
/**
* Commits any buffered row to disk
*/
//%
export function flush() {
if (_buffer) {
const b = _buffer;
_buffer = "";
_storage.append(_filename, b);
}
}
/**
* Turns on or off datalogging
* @param enabled
*/
//% blockId=datalogEnabled block="datalog %enabled"
//% enabled.fieldEditor=fieldonoff
export function setEnabled(enabled: boolean) {
flush();
_enabled = enabled;
}
}

View File

@ -1,16 +1,7 @@
{
"name": "datalog",
"description": "Tiny data logging framework",
"files": [
"README.md",
"datalog.ts"
],
"testFiles": [
"test.ts"
],
"public": true,
"additionalFilePath": "../../node_modules/pxt-common-packages/libs/datalog",
"dependencies": {
"core": "file:../core",
"storage": "file:../storage"
"core": "file:../core",
"storage": "file:../storage"
}
}

View File

@ -0,0 +1,57 @@
namespace datalog.ev3 {
/**
* A datalog storage for the EV3
*/
export class EV3DatalogStorage extends DatalogStorage {
private _filename: string;
private _buffer: string;
private _storage: storage.Storage;
/**
* Creates a new storage for the datalog
* @param storage
* @param filename
*/
constructor(storage: storage.Storage, filename: string) {
super();
this._filename = filename;
this._storage = storage;
}
/**
* Initializes the storage
*/
init(): void {
this._storage.remove(this._filename);
this._buffer = "";
}
/**
* Appends the headers in datalog
*/
appendHeaders(headers: string[]): void {
this._storage.appendCSVHeaders(this._filename, headers);
}
/**
* Appends a row of data
*/
appendRow(values: number[]): void {
// commit row data
this._buffer += storage.toCSV(values, this._storage.csvSeparator);
// buffered writes
if (this._buffer.length > 512)
this.flush();
}
/**
* Flushes any buffered data
*/
flush(): void {
if (this._buffer) {
const b = this._buffer;
this._buffer = "";
this._storage.append(this._filename, b);
}
}
}
// automatic hook up
datalog.setStorage(new datalog.ev3.EV3DatalogStorage(storage.temporary, "datalog.csv"));
}

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@ -1,6 +0,0 @@
loops.forever(function () {
datalog.addRow()
datalog.addValue("x", Math.random())
datalog.addValue("y", Math.random())
})

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@ -9,7 +9,6 @@ namespace brick {
//% color="#C8509B" weight=95 icon="\uf10f"
//% labelLineWidth=0
//% groups='["Touch Sensor", "Color Sensor", "Ultrasonic Sensor", "Gyro Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Threshold"]'
//% groupIcons='["\uf101","\uf103","\uf102","","","\uf104"]'
namespace sensors {
}

View File

@ -13,7 +13,8 @@
"color-sensor": "file:../color-sensor",
"touch-sensor": "file:../touch-sensor",
"ultrasonic-sensor": "file:../ultrasonic-sensor",
"gyro-sensor": "file:../gyro-sensor"
"gyro-sensor": "file:../gyro-sensor",
"mood": "file:../mood"
},
"public": true
}

View File

@ -7,6 +7,8 @@
"sensors.InfraredSensor.setThreshold": "Sets a threshold value",
"sensors.InfraredSensor.setThreshold|param|condition": "the dark or bright light condition",
"sensors.InfraredSensor.setThreshold|param|value": "the value threshold",
"sensors.InfraredSensor.threshold": "Gets the threshold value",
"sensors.InfraredSensor.threshold|param|condition": "the proximity condition",
"sensors.RemoteInfraredBeaconButton.isPressed": "Check if a remote button is currently pressed or not.",
"sensors.RemoteInfraredBeaconButton.onEvent": "Do something when a button or sensor is clicked, up or down",
"sensors.RemoteInfraredBeaconButton.onEvent|param|body": "code to run when the event is raised",

View File

@ -6,6 +6,7 @@
"sensors.InfraredSensor.proximity|block": "%sensor|proximity",
"sensors.InfraredSensor.remoteCommand|block": "%sensor|remote command",
"sensors.InfraredSensor.setThreshold|block": "set %sensor|%condition|to %value",
"sensors.InfraredSensor.threshold|block": "%sensor|%condition",
"sensors.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed",
"sensors.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event",
"sensors.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed",

View File

@ -138,12 +138,12 @@ namespace sensors {
//% fixedInstances
export class InfraredSensor extends internal.UartSensor {
private channel: IrRemoteChannel;
private proximityThreshold: sensors.internal.ThresholdDetector;
private proximityThreshold: sensors.ThresholdDetector;
constructor(port: number) {
super(port)
this.channel = IrRemoteChannel.Ch0
this.proximityThreshold = new sensors.internal.ThresholdDetector(this._id, 0, 100, 10, 90);
this.proximityThreshold = new sensors.ThresholdDetector(this._id, 0, 100, 10, 90);
irButton(0) // make sure buttons array is initalized
// and set the mode, as otherwise button events won't work
@ -258,7 +258,7 @@ namespace sensors {
* @param value the value threshold
*/
//% blockId=irSetThreshold block="set %sensor|%condition|to %value"
//% group="Threshold" blockGap=8
//% group="Threshold" blockGap=8 weight=49
//% value.min=0 value.max=100
setThreshold(condition: InfraredSensorEvent, value: number) {
if (condition == InfraredSensorEvent.ObjectNear)
@ -266,6 +266,17 @@ namespace sensors {
else
this.proximityThreshold.setHighThreshold(value);
}
/**
* Gets the threshold value
* @param condition the proximity condition
*/
//% blockId=irGetThreshold block="%sensor|%condition"
//% group="Threshold" blockGap=8 weight=49
//% sensor.fieldEditor="ports"
threshold(condition: InfraredSensorEvent): number {
return this.proximityThreshold.threshold(<ThresholdState><number>LightCondition.Dark);
}
}
//% fixedInstance whenUsed block="infrared 1" jres=icons.port1

3
libs/mood/README.md Normal file
View File

@ -0,0 +1,3 @@
# mood
A package to put the EV3 in various moods.

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@ -0,0 +1,17 @@
{
"brick.Mood": "A mood",
"brick.Mood.show": "Shows the mood on the EV3",
"brick.showMood": "Show a mood on the brick's screen",
"moods.angry": "An angry mood",
"moods.awake": "A awake mood",
"moods.dizzy": "A dizzy mood",
"moods.knockedOut": "A knocked out mood",
"moods.love": "In love mood",
"moods.middleLeft": "Looking around left",
"moods.middleRight": "Looking around right",
"moods.neutral": "In a neutral mood",
"moods.sad": "A sad mood",
"moods.sleeping": "A sleeping mood",
"moods.tired": "A tired mood",
"moods.winking": "In laughing mood"
}

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@ -0,0 +1,8 @@
{
"brick.showMood|block": "show mood %mood=mood_image_picker",
"brick|block": "brick",
"moods|block": "moods",
"{id:category}Brick": "Brick",
"{id:category}Moods": "Moods",
"{id:group}Screen": "Screen"
}

View File

@ -0,0 +1,37 @@
# show Mood
Show a mood on the brick. A mood will have a image on the display along with a sound and solid or flashing light.
```sig
brick.showMood(moods.sleeping)
```
You can choose one of several moods to show on the display. Use a mood to help show what your @boardname@ is doing at the moment.
## Parameters
**mood**: A mood to show on the brick. Choose one of these moods:
>* ``sleeping``
* ``awake``
* ``tired``
* ``angry``
* ``sad``
* ``dizzy``
* ``knockedOut``
* ``middleLeft``
* ``middleRight``
* ``love``
* ``winking``
* ``neutral``
## Example
Show a ``winking`` mood on the brick.
```blocks
brick.showMood(moods.winking)
```
## See also
[show image](/reference/brick/show-image)

126
libs/mood/mood.ts Normal file
View File

@ -0,0 +1,126 @@
namespace brick {
/**
* Show a mood on the brick's screen
*/
//% weight=90
//% blockId=moodShow block="show mood %mood=mood_image_picker"
//% help=brick/show-mood
//% weight=101 group="Screen" blockGap=8
export function showMood(mood: Mood) {
if(mood)
mood.show();
}
/**
* A mood
*/
//% fixedInstances
export class Mood {
private image: Image;
private sound: Sound;
private light: BrickLight;
constructor(image: Image, sound: Sound, light: BrickLight) {
this.image = image;
this.sound = sound;
this.light = light;
}
/**
* Shows the mood on the EV3
*/
show() {
brick.setLight(this.light);
brick.showImage(this.image);
music.playSoundEffectUntilDone(this.sound);
loops.pause(20);
}
}
/**
* An image
* @param image the image
*/
//% blockId=mood_image_picker block="%image" shim=TD_ID
//% image.fieldEditor="images"
//% image.fieldOptions.columns=4
//% image.fieldOptions.width=400
//% group="Screen" weight=0 blockHidden=1
export function __moodImagePicker(mood: Mood): Mood {
return mood;
}
}
namespace moods {
/**
* A sleeping mood
*/
//% fixedInstance jres=images.eyesSleeping
export const sleeping = new brick.Mood(images.eyesSleeping, sounds.expressionsSnoring, BrickLight.OrangePulse);
/**
* A awake mood
*/
//% fixedInstance jres=images.eyesAwake
export const awake = new brick.Mood(images.eyesAwake, sounds.informationActivate, BrickLight.Orange);
/**
* A tired mood
*/
//% fixedInstance jres=images.eyesTiredMiddle
export const tired = new brick.Mood(images.eyesTiredMiddle, sounds.expressionsSneezing, BrickLight.OrangeFlash);
/**
* An angry mood
*/
//% fixedInstance jres=images.eyesAngry
export const angry = new brick.Mood(images.eyesAngry, sounds.animalsDogGrowl, BrickLight.RedPulse);
/**
* A sad mood
*/
//% fixedInstance jres=images.eyesTear
export const sad = new brick.Mood(images.eyesTear, sounds.animalsDogWhine, BrickLight.Red);
/**
* A dizzy mood
*/
//% fixedInstance jres=images.eyesDizzy
export const dizzy = new brick.Mood(images.eyesDizzy, sounds.expressionsUhOh, BrickLight.OrangeFlash);
/**
* A knocked out mood
*/
//% fixedInstance jres=images.eyesKnockedOut
export const knockedOut = new brick.Mood(images.eyesKnockedOut, sounds.informationError, BrickLight.RedFlash);
/**
* Looking around left
*/
//% fixedInstance jres=images.eyesMiddleLeft
export const middleLeft = new brick.Mood(images.eyesMiddleLeft, sounds.informationAnalyze, BrickLight.Off);
/**
* Looking around right
*/
//% fixedInstance jres=images.eyesMiddleRight
export const middleRight = new brick.Mood(images.eyesMiddleRight, sounds.informationAnalyze, BrickLight.Off);
/**
* In love mood
*/
//% fixedInstance jres=images.eyesLove
export const love = new brick.Mood(images.eyesLove, sounds.expressionsMagicWand, BrickLight.GreenPulse);
/**
* In laughing mood
*/
//% fixedInstance jres=images.eyesWinking
export const winking = new brick.Mood(images.eyesWinking, sounds.expressionsLaughing1, BrickLight.GreenFlash);
/**
* In a neutral mood
*/
//% fixedInstance jres=images.eyesNeutral
export const neutral = new brick.Mood(images.eyesNeutral, undefined, BrickLight.Green);
}

15
libs/mood/pxt.json Normal file
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@ -0,0 +1,15 @@
{
"name": "mood",
"description": "The EV3 mood library",
"files": [
"README.md",
"mood.ts"
],
"testFiles": [
],
"public": true,
"dependencies": {
"core": "file:../core",
"music": "file:../music"
}
}

View File

@ -23,7 +23,7 @@
"music.setTempo": "Set the tempo a number of beats per minute (bpm).",
"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.setVolume|param|volume": "the volume 0...100, eg: 50",
"music.stopAllSounds": "Play a tone through the speaker for some amount of time.",
"music.tempo": "Return the tempo in beats per minute (bpm).\nTempo is the speed (bpm = beats per minute) at which notes play. The larger the tempo value, the faster the notes will play."
}

View File

@ -13,7 +13,7 @@
namespace music {
uint8_t currVolume = 2;
uint8_t currVolume = 50;
uint8_t *lmsSoundMMap;
int writeDev(void *data, int size) {
@ -25,16 +25,16 @@ int writeDev(void *data, int size) {
/**
* Set the output volume of the sound synthesizer.
* @param volume the volume 0...256, eg: 128
* @param volume the volume 0...100, eg: 50
*/
//% weight=96
//% blockId=synth_set_volume block="set volume %volume"
//% parts="speaker" blockGap=8
//% volume.min=0 volume.max=256
//% volume.min=0 volume.max=100
//% help=music/set-volume
//% weight=1
void setVolume(int volume) {
currVolume = max(0, min(100, volume * 100 / 256));
currVolume = max(0, min(100, volume));
}
#define SOUND_CMD_BREAK 0

View File

@ -3,12 +3,12 @@ declare namespace music {
/**
* Set the output volume of the sound synthesizer.
* @param volume the volume 0...256, eg: 128
* @param volume the volume 0...100, eg: 50
*/
//% weight=96
//% blockId=synth_set_volume block="set volume %volume"
//% parts="speaker" blockGap=8
//% volume.min=0 volume.max=256
//% volume.min=0 volume.max=100
//% help=music/set-volume
//% weight=1 shim=music::setVolume
function setVolume(volume: int32): void;

View File

@ -291,6 +291,9 @@ namespace music {
export function playSoundEffect(sound: Sound) {
if (!sound || numSoundsPlaying >= soundsLimit) return;
numSoundsPlaying++;
control.runInBackground(() => {sound.play(); numSoundsPlaying--;});
control.runInParallel(() => {
sound.play();
numSoundsPlaying--;
});
}
}

View File

@ -1,11 +1,11 @@
# Touch Sensor
```cards
sensors.touchSensor1.onEvent(TouchSensorEvent.Pressed, function () {
sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
brick.showImage(images.expressionsBigSmile)
})
sensors.touchSensor1.isPressed();
sensors.touchSensor1.wasPressed();
sensors.touch1.isPressed();
sensors.touch1.wasPressed();
```
## See Also

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