0.0.76

* using datalog from common packages

* upgrading common package link

* updated block signatures

* more docs

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

@@ -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"
 }

libs/chassis/_locales/chassis-strings.json

@@ -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"
 }

libs/chassis/chassis.ts

@@ -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

libs/color-sensor/_locales/color-sensor-jsdoc-strings.json

@@ -15,5 +15,7 @@
   "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"
 }

libs/color-sensor/_locales/color-sensor-strings.json

@@ -21,6 +21,7 @@
   "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",

libs/color-sensor/color.ts

@@ -241,6 +241,17 @@ namespace sensors {
                 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%.
          */

libs/core/input.ts

@@ -432,11 +432,11 @@ namespace sensors {
 
     export class ThresholdDetector {
         public id: number;
-        private min: number;
-        private max: number;
-        private lowThreshold: number;
-        private highThreshold: number;
-        private level: 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) {
@@ -467,6 +467,14 @@ namespace sensors {
             }
         }
 
+        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);

libs/datalog/README.md

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

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

@@ -1,11 +1,15 @@
 {
+  "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.setStorage": "* @param storage custom storage solution"
 }

libs/datalog/_locales/datalog-strings.json

@@ -1,7 +1,7 @@
 {
   "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|block": "datalog",
   "{id:category}Datalog": "Datalog"
 }

libs/datalog/datalog.ts

@@ -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;
-    }
-}

libs/datalog/pxt.json

@@ -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"
     }
 }

libs/datalog/targetoverrides.ts

@@ -0,0 +1,57 @@
+namespace datalog.ev3 {
+    /**
+     * A datalog storage for the EV3
+     */
+    export class EV3DatalogStorage extends DatalogStorage { // implements 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 > 1024)
+                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"));
+}

libs/datalog/test.ts

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

libs/infrared-sensor/_locales/infrared-sensor-jsdoc-strings.json

@@ -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",

libs/infrared-sensor/_locales/infrared-sensor-strings.json

@@ -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",

libs/infrared-sensor/ir.ts

@@ -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

libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json

@@ -5,5 +5,7 @@
   "sensors.UltraSonicSensor.pauseUntil": "Waits for the event to occur",
   "sensors.UltraSonicSensor.setThreshold": "Sets a threshold value",
   "sensors.UltraSonicSensor.setThreshold|param|condition": "the dark or bright light condition",
-  "sensors.UltraSonicSensor.setThreshold|param|value": "the value threshold"
+  "sensors.UltraSonicSensor.setThreshold|param|value": "the value threshold",
+  "sensors.UltraSonicSensor.threshold": "Gets the threshold value",
+  "sensors.UltraSonicSensor.threshold|param|condition": "the proximity condition"
 }

libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json

@@ -6,6 +6,7 @@
   "sensors.UltraSonicSensor.onEvent|block": "on %sensor|%event",
   "sensors.UltraSonicSensor.pauseUntil|block": "pause until %sensor| %event",
   "sensors.UltraSonicSensor.setThreshold|block": "set %sensor|%condition|to %value",
+  "sensors.UltraSonicSensor.threshold|block": "%sensor|%condition",
   "sensors.ultrasonic1|block": "ultrasonic 1",
   "sensors.ultrasonic2|block": "ultrasonic 2",
   "sensors.ultrasonic3|block": "ultrasonic 3",

libs/ultrasonic-sensor/ultrasonic.ts

@@ -93,20 +93,36 @@ namespace sensors {
          * @param value the value threshold
          */
         //% blockId=ultrasonicSetThreshold block="set %sensor|%condition|to %value"
-        //% group="Threshold" blockGap=8
+        //% group="Threshold" blockGap=8 weight=80
         //% value.min=0 value.max=255
-        setThreshold(condition: UltrasonicSensorEvent, value: number) {            
-            switch(condition) {
+        setThreshold(condition: UltrasonicSensorEvent, value: number) {
+            switch (condition) {
                 case UltrasonicSensorEvent.ObjectNear: this.promixityThreshold.setLowThreshold(value); break;
                 case UltrasonicSensorEvent.ObjectFar: this.promixityThreshold.setHighThreshold(value); break;
                 case UltrasonicSensorEvent.ObjectDetected: this.movementThreshold = value; break;
             }
         }
+
+        /**
+         * Gets the threshold value
+         * @param condition the proximity condition
+         */
+        //% blockId=ultrasonicGetThreshold block="%sensor|%condition"
+        //% group="Threshold" blockGap=8 weight=79
+        //% sensor.fieldEditor="ports"
+        threshold(condition: UltrasonicSensorEvent): number {
+            switch (condition) {
+                case UltrasonicSensorEvent.ObjectNear: this.promixityThreshold.threshold(ThresholdState.Low); break;
+                case UltrasonicSensorEvent.ObjectFar: this.promixityThreshold.threshold(ThresholdState.Low); break;
+                case UltrasonicSensorEvent.ObjectDetected: this.movementThreshold; break;
+            }
+            return 0;
+        }
     }
-  
+
     //% fixedInstance whenUsed block="ultrasonic 4" jres=icons.port4
     export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
-    
+
     //% fixedInstance whenUsed block="ultrasonic 1" jres=icons.port1
     export const ultrasonic1: UltraSonicSensor = new UltraSonicSensor(1)
 

package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.74",
+  "version": "0.0.76",
   "lockfileVersion": 1,
   "requires": true,
   "dependencies": {

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.74",
+  "version": "0.0.76",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [
@@ -44,7 +44,7 @@
     "webfonts-generator": "^0.4.0"
   },
   "dependencies": {
-    "pxt-common-packages": "0.17.11",
+    "pxt-common-packages": "0.17.12",
     "pxt-core": "3.0.26"
   },
   "scripts": {