0.0.77

* rebuild for sampling

* bump pxt

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

@@ -17,5 +17,6 @@
   "sensors.ColorSensor.setThreshold|param|condition": "the dark or bright light condition",
   "sensors.ColorSensor.setThreshold|param|value": "the value threshold",
   "sensors.ColorSensor.threshold": "Gets the threshold value",
-  "sensors.ColorSensor.threshold|param|condition": "the light condition"
+  "sensors.ColorSensor.threshold|param|condition": "the light condition",
+  "sensors.color": "Returns a color that the sensor can detect"
 }

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

@@ -26,6 +26,7 @@
   "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",

libs/color-sensor/color.ts

@@ -19,21 +19,21 @@ 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,
 }
 
@@ -157,6 +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)
@@ -263,45 +264,57 @@ namespace sensors {
 
             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 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 ++;
+                    vcount++;
                 else {
                     vold = v;
                     vcount = 1;
                 }
 
                 // wait a bit
-                loops.pause(50);                
+                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;
         }
+
+    }
+
+    /**
+     * 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=90 fixedInstance jres=icons.port1
     export const color1: ColorSensor = new ColorSensor(1)
 

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

@@ -11,5 +11,7 @@
   "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.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"
 }

libs/datalog/_locales/datalog-strings.json

@@ -2,6 +2,7 @@
   "datalog.addRow|block": "datalog add row",
   "datalog.addValue|block": "datalog add %name|=%value",
   "datalog.setEnabled|block": "datalog %enabled=toggleOnOff",
+  "datalog.setSampleInterval|block": "set datalog sampling interval to %millis|(ms)",
   "datalog|block": "datalog",
   "{id:category}Datalog": "Datalog"
 }

libs/datalog/targetoverrides.ts

@@ -2,7 +2,7 @@ namespace datalog.ev3 {
     /**
      * A datalog storage for the EV3
      */
-    export class EV3DatalogStorage extends DatalogStorage { // implements DatalogStorage {
+    export class EV3DatalogStorage extends DatalogStorage {
         private _filename: string;
         private _buffer: string;
         private _storage: storage.Storage;
@@ -38,18 +38,18 @@ namespace datalog.ev3 {
             // commit row data
             this._buffer += storage.toCSV(values, this._storage.csvSeparator);
             // buffered writes
-            if (this._buffer.length > 1024)
+            if (this._buffer.length > 512)
                 this.flush();
         }
         /**
          * Flushes any buffered data
          */
         flush(): void {
-            if (this._buffer) {
+            if (this._buffer) {                                
                 const b = this._buffer;
                 this._buffer = "";
                 this._storage.append(this._filename, b);
-            }    
+            }
         }
     }
     // automatic hook up

package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.75",
+  "version": "0.0.77",
   "lockfileVersion": 1,
   "requires": true,
   "dependencies": {

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.75",
+  "version": "0.0.77",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [
@@ -44,8 +44,8 @@
     "webfonts-generator": "^0.4.0"
   },
   "dependencies": {
-    "pxt-common-packages": "0.17.12",
-    "pxt-core": "3.0.26"
+    "pxt-common-packages": "0.17.13",
+    "pxt-core": "3.0.29"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"