Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
| e0aad7227f | |||
| aca1b4a764 |
@ -4,7 +4,6 @@
|
||||
|
||||
* [Troubleshoot](/troubleshoot)
|
||||
* [EV3 Manager](https://ev3manager.education.lego.com/)
|
||||
* [Forum](https://forum.makecode.com)
|
||||
* [LEGO Support](https://www.lego.com/service/)
|
||||
* [FIRST LEGO League](/fll)
|
||||
|
||||
|
||||
@ -212,12 +212,6 @@ Here are some fun programs for your @boardname@!
|
||||
"description": "Keep your brick entertained and happy",
|
||||
"url":"/examples/happy-unhappy",
|
||||
"cardType": "example"
|
||||
}, {
|
||||
{
|
||||
"name": "Turtle",
|
||||
"description": "Encode moves and run them on a driving base",
|
||||
"url":"/examples/turtle",
|
||||
"cardType": "example"
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||||
}, {
|
||||
"name": "Distance Measurer",
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||||
"description": "Use a motor to measure angle and distance",
|
||||
|
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Binary file not shown.
38
docs/fll.md
38
docs/fll.md
@ -2,9 +2,7 @@
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||||
|
||||
|
||||
|
||||
**For teams participating in City Shaper challenge**, you can use MakeCode for your challenge (see [City Shaper Challenge, page 7 bottom](https://firstinspiresst01.blob.core.windows.net/fll/2020/city-shaper-game-guide-pdf.pdf)!
|
||||
|
||||
We’ve compiled a list of resources and information that we hope will be helpful for you.
|
||||
**For teams participating in the Open Software Platform Pilot utilizing MakeCode**, we’ve compiled a list of resources and information that we hope will be helpful for you.
|
||||
|
||||
* **Got a question? Post it on the forums** at https://forum.makecode.com/
|
||||
|
||||
@ -19,26 +17,23 @@ If you found a bug, please try if it hasn't been fixed yet! Go to https://makeco
|
||||
* You will need to install the latest EV3 firmware on your brick. Instructions on how to do that are located here: https://makecode.mindstorms.com/troubleshoot.
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||||
* You will need a computer with a USB port to connect to the EV3 in order to download your programs.
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||||
* You will need internet access and a browser on your computer to get to https://makecode.mindstorms.com.
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||||
* You can [install the app](/offline-app) to use the editor offline.
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||||
|
||||
### I know LabView, how is MakeCode different?
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||||
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||||
We have compiled a guide for EV3 LabView users at https://makecode.mindstorms.com/labview.
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||||
|
||||
### What’s the best way to get started with MakeCode?
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Go to https://makecode.mindstorms.com. The home screen is filled with videos, tutorials and examples that might be relevant for your missions.
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Watch some of the videos at https://makecode.mindstorms.com (at the bottom of the page).
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Try some of the provided tutorials:
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||||
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||||
On the home page, scroll down to the **FLL / City Shaper / Crane Mission** section for specific lessons related to Mission 2.
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* [Wake Up!](@homeurl@#tutorial:tutorials/wake-up) – show your EV3 brick waking up
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* [Animation](@homeurl@#tutorial:tutorials/make-an-animation) – create a custom animation to show
|
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* [Music Brick](@homeurl@#tutorial:tutorials/music-brick) – transform your EV3 into a musical instrument
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* [Run Motors](@homeurl@#tutorial:tutorials/run-motors) – control the motors of your robot
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* [Red Light, Green Light](@homeurl@#tutorial:tutorials/redlight-greenlight) – play red light, green light with the color sensor
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* [Line Following](@homeurl@#tutorial:tutorials/line-following) – have your robot follow a line
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||||
|
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### Can I load both LEGO MINDSTORMS EV3 Software and MakeCode programs onto my EV3?
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Yes.
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||||
|
||||
### Does it work without internet?
|
||||
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To make sure the editor works without internet, install the [offline app](/offline-app)!
|
||||
|
||||
### How do I figure out what a block does?
|
||||
|
||||
You can right-click on any block and select “Help” in the context menu to open the documentation page describing what that block does.
|
||||
@ -94,11 +89,18 @@ Sharing programs is also shown in the [Tips and Tricks](https://legoeducation.vi
|
||||
|
||||
### Why can't I delete my program (*.uf2) files from the Brick?
|
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There's a bug in the firmware which prevents you from deleting the programs (``*.uf2`` files) from your EV3 Brick. There isn't a firmware update to fix this yet.
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There's a bug in the firmware which prevents you from deleting the programs (``*.uf2`` files) from your EV3 Brick. There isn't a firmware update to fix this yet. As a workaround, you can temporarily downgrade your firmware version, delete the files, and then upgrade back to the version that works with MakeCode.
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We have prepared a special program that lets you delete UF2 files from the brick.
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Download [these PDF instructions](/file-manager.pdf) and drop the PDF on the brick drive.
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This will present you with an menu for deleting files.
|
||||
Follow these steps to downgrade your firmware version, delete the files, and uprgade back again:
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||||
1. Go into **EV3 LabVIEW** - if it's not installed get it [here](https://education.lego.com/en-us/downloads/mindstorms-ev3/software)
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2. Plug in your EV3 Brick and start a new project
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3. Go to the **Tools** menu in the upper right corner, select **Firmware Update**
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4. In the **Firmware Update** dialog box, click on the **Show Details** button
|
||||
5. From the **Available Firmware Files** list, select **EV3 Firmware V1.09E**
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||||
6. Click the **Update Firmware** button and wait for the update to complete
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||||
|
||||
Now the firmware version on the EV3 Brick will be **V1.09E**. Also, in the process, the downgrade deleted all of the saved programs from the EV3 Brick. To continue to use MakeCode, the firmware version must be at **V1.10E** or above. So, the Brick firmware needs to be upgraded again. If you don't know or do remember how to do this, see the **Upgrade your @drivename@** section in the [troubleshooting](/troubleshoot) page.
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||||
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||||
For other common questions, try the FAQ page https://makecode.mindstorms.com/faq.
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||||
|
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|
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@ -1,3 +1,3 @@
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{
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||||
"appref": "v1.1.20"
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"appref": "v1.0.11"
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||||
}
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||||
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||||
@ -388,12 +388,12 @@
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||||
}
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||||
function downloadWin64() {
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// TODO: Keep this link up-to-date with the desired release version
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window.open("https://makecode.com/api/release/ev3/v1.1.20/win64");
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window.open("https://makecode.com/api/release/ev3/v1.0.11/win64");
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tickEvent("offlineapp.download", { "target": "ev3", "platform": "win64" });
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||||
}
|
||||
function downloadMac64() {
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||||
// TODO: Keep this link up-to-date with the desired release version
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window.open("https://makecode.com/api/release/ev3/v1.1.20/mac64");
|
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window.open("https://makecode.com/api/release/ev3/v1.0.11/mac64");
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tickEvent("offlineapp.download", { "target": "ev3", "platform": "mac64" });
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||||
}
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||||
</script>
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||||
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||||
@ -3,3 +3,9 @@
|
||||
## Offline app #target-app
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||||
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||||
The MakeCode editor is available as app which you can install on a computer with Windows or Mac OS. Once installed, the **[MakeCode Offline App](/offline-app)** lets you create, run, and download your projects to the @boardname@. It works the same as the Web application does in your browser but it's a stand-alone application that will work when a connection to the internet is restricted or not available.
|
||||
|
||||
### ~ hint
|
||||
|
||||
The [MakeCode Offline App](/offline-app) is currently in development and is made available as a **pre-release** version.
|
||||
|
||||
### ~
|
||||
|
||||
@ -1,47 +0,0 @@
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||||
# battery Property
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||||
|
||||
Return the information about the battery
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||||
|
||||
```sig
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||||
brick.batteryInfo(BatteryProperty.Level)
|
||||
```
|
||||
|
||||
## Parameters
|
||||
|
||||
* property: the kind of information
|
||||
|
||||
## Returns
|
||||
|
||||
* a [number](/types/number) which represents the value of the property requested.
|
||||
|
||||
## 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;
|
||||
forever(function() {
|
||||
brick.showString("Battery level:", 1)
|
||||
brick.showNumber(battery, 2)
|
||||
battery = brick.batteryInfo(BatteryProperty.Level);
|
||||
if (battery > 15)
|
||||
{
|
||||
brick.setStatusLight(StatusLight.Green);
|
||||
} else if (battery > 5) {
|
||||
brick.setStatusLight(StatusLight.Orange);
|
||||
} else {
|
||||
brick.setStatusLight(StatusLight.RedPulse)
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||||
}
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||||
pause(30000)
|
||||
})
|
||||
```
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||||
|
||||
Or see all the values
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||||
|
||||
```blocks
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||||
forever(function () {
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||||
brick.showValue("bat V", brick.batteryInfo(BatteryProperty.Voltage), 1)
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||||
brick.showValue("bat %", brick.batteryInfo(BatteryProperty.Level), 2)
|
||||
brick.showValue("bat I", brick.batteryInfo(BatteryProperty.Current), 3)
|
||||
})
|
||||
```
|
||||
@ -1,59 +0,0 @@
|
||||
# Ramp
|
||||
|
||||
Schedules an acceleration, constant and deceleration phase at a given speed.
|
||||
|
||||
```sig
|
||||
motors.largeA.ramp(50, 100, 500, 100)
|
||||
```
|
||||
|
||||
The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
|
||||
|
||||
|
||||
## Parameters
|
||||
|
||||
* **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motor in the reverse direction.
|
||||
* **acceleration**: the [number](/types/number) of movement units to rotate for while accelerating.
|
||||
* **value**: the [number](/types/number) of movement units to rotate for.
|
||||
* **deceleration**: the [number](/types/number) of movement units to rotate for while decelerating.
|
||||
* **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.
|
||||
|
||||
## Example
|
||||
|
||||
This is an interactive program that lets you change the values of
|
||||
the acceleration and deceleration and see the effects.
|
||||
|
||||
```blocks
|
||||
let steady = 0
|
||||
let dec = 0
|
||||
let acc = 0
|
||||
brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
|
||||
acc += -100
|
||||
})
|
||||
brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeB.ramp(50, steady, MoveUnit.MilliSeconds, acc, dec)
|
||||
})
|
||||
brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
|
||||
acc += 100
|
||||
})
|
||||
brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {
|
||||
dec += 100
|
||||
})
|
||||
brick.buttonDown.onEvent(ButtonEvent.Pressed, function () {
|
||||
dec += -100
|
||||
})
|
||||
acc = 500
|
||||
steady = 1000
|
||||
acc = 500
|
||||
forever(function () {
|
||||
brick.showValue("acc", acc, 1)
|
||||
brick.showValue("steady", steady, 2)
|
||||
brick.showValue("dec", dec, 3)
|
||||
brick.showString("acc: left/right", 5)
|
||||
brick.showString("dec: up/down", 6)
|
||||
brick.showString("run large B: enter", 7)
|
||||
})
|
||||
```
|
||||
|
||||
## See also
|
||||
|
||||
[tank](/reference/motors/synced/tank), [steer](/reference/motors/synced/steer), [stop](/reference/motors/motor/stop)
|
||||
22
docs/reference/motors/motor/schedule.md
Normal file
22
docs/reference/motors/motor/schedule.md
Normal file
@ -0,0 +1,22 @@
|
||||
# Schedule
|
||||
|
||||
Schedules an acceleration, constant and deceleration phase at a given speed.
|
||||
|
||||
```sig
|
||||
motors.largeA.schedule(50, 100, 500, 100)
|
||||
```
|
||||
|
||||
The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
|
||||
|
||||
|
||||
## Parameters
|
||||
|
||||
* **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motor in the reverse direction.
|
||||
* **acceleration**: the [number](/types/number) of movement units to rotate for while accelerating.
|
||||
* **value**: the [number](/types/number) of movement units to rotate for.
|
||||
* **deceleration**: the [number](/types/number) of movement units to rotate for while decelerating.
|
||||
* **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.
|
||||
|
||||
## See also
|
||||
|
||||
[tank](/reference/motors/synced/tank), [steer](/reference/motors/synced/steer), [stop](/reference/motors/motor/stop)
|
||||
@ -1,30 +0,0 @@
|
||||
# set Brake Settle Time
|
||||
|
||||
Set the time to wait after a motor stopped to allow it settle
|
||||
when brake is enabled. Default is 10ms.
|
||||
|
||||
```sig
|
||||
motors.largeA.setBrakeSettleTime(200)
|
||||
```
|
||||
|
||||
When a the motor is stopped and brake is applied, it can still wiggle for a little while. You can use the settle time to automatically way after stopping and let the robot settle.
|
||||
|
||||
## Parameters
|
||||
|
||||
* **time**: a [number](/types/number) value which represents the number of milliseconds to wait after braking.
|
||||
|
||||
## Example
|
||||
|
||||
Set the brake mode and the settle time to 500ms. Run the motor connected to port **A** for 2 seconds at a speed of `30` and stop after 2s.
|
||||
|
||||
```blocks
|
||||
motors.largeA.setBrake(true)
|
||||
motors.largeA.setBrakeSettleTime(500)
|
||||
motors.largeA.run(30)
|
||||
pause(2000)
|
||||
motors.largeA.stop()
|
||||
```
|
||||
|
||||
## See also
|
||||
|
||||
[stop](/reference/motors/motor/stop)
|
||||
@ -1,28 +1,28 @@
|
||||
# set Brake
|
||||
|
||||
Set the brake on the motor so it will brake when it finishes a brake command.
|
||||
Set the brake on the motor so it won't turn when it has no power.
|
||||
|
||||
```sig
|
||||
motors.largeA.setBrake(false)
|
||||
```
|
||||
|
||||
When a the motor is stopped, it can still rotate if an external force is applied to it. This can happen, for example, if you're tanking your brick on a inclined surface and stop the motors. Gravity will push down on the brick and might cause it to start rolling again. You can prevent this movement by setting the brake.
|
||||
When a the motor is stopped, it can still rotate if an external force is applied to it. This can happen, for example, if your're tanking your brick on a inclined surface and stop the motors. Gravity will push down on the brick and might cause it to start rolling again. You can prevent this movement by setting the brake.
|
||||
|
||||
Also, you can use the brake to do simple skid steering for your brick.
|
||||
|
||||
## Parameters
|
||||
## Paramters
|
||||
|
||||
* **brake**: a [boolean](/types/boolean) value which is either `true` to set the brake on or `false` to set the brake off.
|
||||
|
||||
## Example
|
||||
|
||||
Run the motor connected to port **A** for 2 seconds at a speed of `30` and stop after 2s.
|
||||
Run the motor connected to port **A** for 2 seconds at a speed of `30`. Stop and set the brake.
|
||||
|
||||
```blocks
|
||||
motors.largeA.setBrake(true)
|
||||
motors.largeA.run(30)
|
||||
pause(2000)
|
||||
motors.largeA.stop()
|
||||
motors.largeA.setBrake(true)
|
||||
```
|
||||
|
||||
## See also
|
||||
|
||||
20
docs/reference/motors/motor/set-run-acceleration-ramp.md
Normal file
20
docs/reference/motors/motor/set-run-acceleration-ramp.md
Normal file
@ -0,0 +1,20 @@
|
||||
# Set Run Acceleration Ramp
|
||||
|
||||
```sig
|
||||
motors.largeD.setRunAccelerationRamp(1, MoveUnit.Seconds)
|
||||
```
|
||||
|
||||
## Examples
|
||||
|
||||
```blocks
|
||||
brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeB.run(50, 6, MoveUnit.Rotations)
|
||||
})
|
||||
brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeC.run(50, 6, MoveUnit.Seconds)
|
||||
})
|
||||
motors.largeB.setRunAccelerationRamp(360, MoveUnit.Degrees)
|
||||
motors.largeB.setRunDecelerationRamp(360, MoveUnit.Degrees)
|
||||
motors.largeC.setRunAccelerationRamp(2, MoveUnit.Seconds)
|
||||
motors.largeC.setRunDecelerationRamp(2, MoveUnit.Seconds)
|
||||
```
|
||||
20
docs/reference/motors/motor/set-run-deceleration-ramp.md
Normal file
20
docs/reference/motors/motor/set-run-deceleration-ramp.md
Normal file
@ -0,0 +1,20 @@
|
||||
# Set Run Deceleration Ramp
|
||||
|
||||
```sig
|
||||
motors.largeD.setRunDecelerationRamp(1, MoveUnit.Seconds)
|
||||
```
|
||||
|
||||
## Examples
|
||||
|
||||
```blocks
|
||||
brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeB.run(50, 6, MoveUnit.Rotations)
|
||||
})
|
||||
brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeC.run(50, 6, MoveUnit.Seconds)
|
||||
})
|
||||
motors.largeB.setRunAccelerationRamp(360, MoveUnit.Degrees)
|
||||
motors.largeB.setRunDecelerationRamp(360, MoveUnit.Degrees)
|
||||
motors.largeC.setRunAccelerationRamp(2, MoveUnit.Seconds)
|
||||
motors.largeC.setRunDecelerationRamp(2, MoveUnit.Seconds)
|
||||
```
|
||||
@ -1,26 +0,0 @@
|
||||
# Set Run Phase
|
||||
|
||||
Allows to specify an acceleration or deceleration phases for run commands.
|
||||
|
||||
```sig
|
||||
motors.largeD.setRunPhase(MovePhase.Acceleration, 1, MoveUnit.Seconds)
|
||||
```
|
||||
|
||||
Once the run phase is specified on a motor (or pair of motors),
|
||||
it will be automatically applied to [run](/reference/motors/run) commands.
|
||||
|
||||
## Time vs Rotation
|
||||
|
||||
The phases specified for time units (seconds, milliseconds) only apply to run with time
|
||||
moves. Similarly, the phases specified for rotation units (# rotation, degrees) only
|
||||
apply to run with rotation units.
|
||||
|
||||
## Examples
|
||||
|
||||
```blocks
|
||||
motors.largeB.setRunPhase(MovePhase.Acceleration, 0.5, MoveUnit.Seconds)
|
||||
motors.largeB.setRunPhase(MovePhase.Deceleration, 0.2, MoveUnit.Seconds)
|
||||
forever(function () {
|
||||
motors.largeB.run(50, 1, MoveUnit.Seconds)
|
||||
})
|
||||
```
|
||||
BIN
docs/static/tutorials/wall-follower.png
vendored
BIN
docs/static/tutorials/wall-follower.png
vendored
Binary file not shown.
|
Before Width: | Height: | Size: 17 KiB |
@ -25,11 +25,6 @@ Step by step guides to coding your @boardname@.
|
||||
"description": "Use the color sensor to follow line or detect colors",
|
||||
"url":"/tutorials/color-sensor",
|
||||
"imageUrl":"/static/tutorials/what-color.png"
|
||||
}, {
|
||||
"name": "Ultrasonic Sensor",
|
||||
"description": "Use the ultrasonic sensor to detect obstacles",
|
||||
"url":"/tutorials/ultrasonic-sensor",
|
||||
"imageUrl":"/static/tutorials/object-near.png"
|
||||
}, {
|
||||
"name": "Infrared Sensor",
|
||||
"description": "Use the infrared sensor to detect objects",
|
||||
|
||||
@ -1,27 +0,0 @@
|
||||
# Crane Mission Lessons
|
||||
|
||||
The [Crane Mission Lessons](https://firstinspiresst01.blob.core.windows.net/fll/2020/fll-ev3-overview.pdf) adapted for MakeCode.
|
||||
|
||||
## Lessons
|
||||
|
||||
```codecard
|
||||
[
|
||||
{
|
||||
"name": "Crane Mission / Robot 1",
|
||||
"description": "Learn the basics and build your first robot driving base.",
|
||||
"cardType": "tutorial",
|
||||
"url":"/tutorials/city-shaper/robot-1"
|
||||
}, {
|
||||
"name": "Crane Mission / Robot 2",
|
||||
"description": "Program your robot to move in different ways.",
|
||||
"cardType": "tutorial",
|
||||
"url":"/tutorials/city-shaper/robot-2"
|
||||
}
|
||||
]
|
||||
```
|
||||
|
||||
## See Also
|
||||
|
||||
[Robot 1](/tutorials/city-shaper/robot-1),
|
||||
[Robot 2](/tutorials/city-shaper/robot-2)
|
||||
|
||||
@ -1,20 +0,0 @@
|
||||
# Mission 2 Lesson
|
||||
|
||||
Use the program below to tell your robot how to solve the Crane Mission (Mission 2).
|
||||
|
||||
```blocks
|
||||
brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeBC.steer(0, 25, 2.25, MoveUnit.Rotations)
|
||||
control.timer1.reset()
|
||||
while (control.timer1.seconds() < 1.5) {
|
||||
motors.largeBC.steer(sensors.color1.light(LightIntensityMode.Reflected) - 40, 50)
|
||||
}
|
||||
motors.largeBC.stop()
|
||||
motors.largeBC.steer(0, 15, 0.25, MoveUnit.Rotations)
|
||||
motors.mediumA.run(25, 60, MoveUnit.Degrees)
|
||||
pause(2000)
|
||||
motors.mediumA.run(-25, 1, MoveUnit.Seconds)
|
||||
motors.largeBC.steer(0, -100, 4, MoveUnit.Rotations)
|
||||
})
|
||||
motors.largeBC.setBrake(true)
|
||||
```
|
||||
@ -1,40 +0,0 @@
|
||||
# Robot 1 Lesson
|
||||
|
||||
## Step 1 - Build Your Driving Base Robot @unplugged
|
||||
|
||||
Build the robot driving base:
|
||||
|
||||
[](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
|
||||
|
||||
If clicking on the image above doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
|
||||
|
||||
## Step 2 - Show an image @fullscreen
|
||||
|
||||
At first, it's nice to know that your program is running. Plug in a ``||brick:show mood||`` from the **BRICK** toolbox drawer
|
||||
into the ``||loops:on start||`` block. Change the image to something else if you want!
|
||||
|
||||
```blocks
|
||||
brick.showMood(moods.neutral)
|
||||
```
|
||||
|
||||
## Step 3 - Try your code @fullscreen
|
||||
|
||||
Look at the simulator and check that your image is showing on the screen. When you are ready, press the **DOWNLOAD** button
|
||||
and follow the instructions to transfer your code on the brick.
|
||||
|
||||
## Step 4 - Steer motors @fullscreen
|
||||
|
||||
Drag a ``||motors:steer motors||`` block from the **MOTORS** toolbox drawer and snap it in under ``||brick:show mood||``.
|
||||
Click on the **(+)** symbol and make sure to tell your motors to turn **1** rotation.
|
||||
|
||||
```blocks
|
||||
brick.showMood(moods.neutral)
|
||||
motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations)
|
||||
```
|
||||
|
||||
## Step 5 - Try your code @fullscreen
|
||||
|
||||
Whenever you make a code change, the simulator will restart so you can see what your latest change will do.
|
||||
When you are ready, click **DOWNLOAD** and follow the instructions to transfer the code into your brick.
|
||||
|
||||
**Remember**: Take the driving base apart at the end of the session so that another group can build their robot too.
|
||||
@ -1,94 +0,0 @@
|
||||
# Robot 2 Lesson
|
||||
|
||||
## Step 1 - Build Your Driving Base Robot @unplugged
|
||||
|
||||
Build the robot driving base:
|
||||
|
||||
[](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
|
||||
|
||||
If clicking on the image above doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
|
||||
|
||||
## Step 2 - Show an image and move @fullscreen
|
||||
|
||||
Add blocks to the ``||loops:on start||`` block to show an image and move the motors **B+C** for ``1`` rotation.
|
||||
|
||||
```blocks
|
||||
brick.showMood(moods.neutral)
|
||||
motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations)
|
||||
```
|
||||
|
||||
## Step 3 - Brick button @fullscreen
|
||||
|
||||
Let's change the code so that your robot moves when the **UP** button is pressed.
|
||||
Add an ``||brick:on button up||`` block and move ``||motors:steer motors||`` inside of it.
|
||||
After downloading your code, press **UP** to move the robot.
|
||||
|
||||
```blocks
|
||||
brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations)
|
||||
})
|
||||
brick.showMood(moods.neutral)
|
||||
```
|
||||
|
||||
## Step 4 - Braking @fullscreen
|
||||
|
||||
When the motors are done turning, the robot keeps on moving for a short distance.
|
||||
Turn on the **brakes** so that your robot stops immediately.
|
||||
Drag a ``||motors:set brake||`` block into the ``||loops:on start||`` and set it to **ON** for the the **BC** motors.
|
||||
|
||||
```blocks
|
||||
brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations)
|
||||
})
|
||||
brick.showMood(moods.neutral)
|
||||
motors.largeBC.setBrake(true)
|
||||
```
|
||||
|
||||
## Step 5 - Left and Right turn @fullscreen
|
||||
|
||||
Let's make the robot turn to the left when the **LEFT** button is pressed on the brick.
|
||||
Find an ``||brick:on button||`` block and put a ``||motors:steer motors||`` in it. Make the turn ratio drive the motor to left.
|
||||
Get another ``||brick:on button||`` and set it to run when the **RIGHT** is pressed.
|
||||
Put a ``||motors:steer motors||`` in for that button and set the turn ratio to drive to the right.
|
||||
|
||||
```blocks
|
||||
brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeBC.steer(-50, 50, 1, MoveUnit.Rotations)
|
||||
})
|
||||
brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeBC.steer(50, 50, 1, MoveUnit.Rotations)
|
||||
})
|
||||
```
|
||||
|
||||
## Step 6 - Backwards @fullscreen
|
||||
|
||||
Let's make the robot go backwards when the **DOWN** button is pressed on the brick.
|
||||
Add a ``||motors:steer motors||`` to an ``||brick:on button||`` block and change the speed to be negative. This will make the motor go backwards.
|
||||
|
||||
```blocks
|
||||
brick.buttonDown.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeBC.steer(0, -50, 1, MoveUnit.Rotations)
|
||||
})
|
||||
```
|
||||
|
||||
## Step 7 - Add an Ultrasonic sensor @fullscreen
|
||||
|
||||
Add an Ultrasonic sensor to your driving base.
|
||||
|
||||
[](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-ultrasonic-sensor-driving-base-61ffdfa461aee2470b8ddbeab16e2070.pdf)
|
||||
|
||||
If clicking on the image above doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
|
||||
|
||||
## Step 8 - Stopping distance @fullscreen
|
||||
|
||||
Create a program that moves the Driving Base and makes it stop 6 cm from the Cuboid.
|
||||
|
||||
```blocks
|
||||
brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
|
||||
motors.largeBC.steer(0, 50)
|
||||
pauseUntil(() => sensors.ultrasonic4.distance() < 6)
|
||||
motors.largeBC.stop()
|
||||
})
|
||||
```
|
||||
|
||||
Try sending your robot towards a wall!
|
||||
@ -4,6 +4,12 @@
|
||||
|
||||
```codecard
|
||||
[{
|
||||
"name": "Object Near",
|
||||
"description": "Detect if objects are near.",
|
||||
"cardType": "tutorial",
|
||||
"url":"/tutorials/object-near",
|
||||
"imageUrl":"/static/tutorials/object-near.png"
|
||||
}, {
|
||||
"name": "Security Alert",
|
||||
"description": "Build an security alert using the Infrared Sensor.",
|
||||
"cardType": "tutorial",
|
||||
@ -14,4 +20,5 @@
|
||||
|
||||
## See Also
|
||||
|
||||
[Object Near?](/tutorials/object-near),
|
||||
[Security Alert](/tutorials/security-alert)
|
||||
|
||||
@ -39,11 +39,6 @@
|
||||
"cardType": "example",
|
||||
"url":"/tutorials/coast-or-brake",
|
||||
"imageUrl":"/static/tutorials/coast-or-brake.png"
|
||||
}, {
|
||||
"name": "Turtle",
|
||||
"description": "Encode moves and run them on a driving base",
|
||||
"url":"/tutorials/turtle",
|
||||
"cardType": "example"
|
||||
}]
|
||||
```
|
||||
|
||||
@ -54,5 +49,4 @@
|
||||
[Pivot Turn](/tutorials/pivot-turn),
|
||||
[Smooth Turn](/tutorials/smooth-turn),
|
||||
[Tank ZigZag](/tutorials/tank-zigzag),
|
||||
[Coast Or Brake](/tutorials/coast-or-brake),
|
||||
[Turtle](/tutorials/turtle)
|
||||
[Coast Or Brake](/tutorials/coast-or-brake)
|
||||
|
||||
@ -1,9 +0,0 @@
|
||||
# Stop At Object
|
||||
|
||||
This is a code example to detect contact or collision with another object. It uses a touch sensor to detect hitting a wall or other obstacle. The motors are run and then stopped when the sensor is pressed.
|
||||
|
||||
```blocks
|
||||
motors.largeBC.tank(50, 50)
|
||||
sensors.touch1.pauseUntil(ButtonEvent.Pressed)
|
||||
motors.largeBC.stop()
|
||||
```
|
||||
@ -16,10 +16,10 @@
|
||||
"url":"/tutorials/touch-sensor-values",
|
||||
"imageUrl":"/static/tutorials/touch-sensor-values.png"
|
||||
}, {
|
||||
"name": "Stop At Object",
|
||||
"name": "Pause Until Pressed",
|
||||
"description": "Waits for the sensor to be pressed before continuing the program",
|
||||
"cardType": "tutorial",
|
||||
"url":"/tutorials/stop-at-object",
|
||||
"url":"/tutorials/pause-until-pressed",
|
||||
"imageUrl":"/static/tutorials/pause-until-pressed.png"
|
||||
}]
|
||||
```
|
||||
@ -28,4 +28,4 @@
|
||||
|
||||
[Touch to Run](/tutorials/touch-to-run),
|
||||
[Touch Sensor Values](/tutorials/touch-sensor-values),
|
||||
[Stop At Object](/tutorials/stop-at-object)
|
||||
[Pause Until Pressed](/tutorials/pause-until-pressed)
|
||||
@ -1,52 +0,0 @@
|
||||
# Turtle
|
||||
|
||||
A fun interactive program where the user enters a sequence of moves using the buttons and the robot executes it.
|
||||
|
||||
|
||||
```blocks
|
||||
/**
|
||||
* Run this program with a driving base.
|
||||
**/
|
||||
let indent = ""
|
||||
let command = ""
|
||||
let c = ""
|
||||
brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
|
||||
command = command + "L"
|
||||
})
|
||||
brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
|
||||
command = command + "R"
|
||||
})
|
||||
brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {
|
||||
command = command + "F"
|
||||
})
|
||||
brick.buttonDown.onEvent(ButtonEvent.Pressed, function () {
|
||||
command = command + "B"
|
||||
})
|
||||
brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
|
||||
indent = ""
|
||||
for (let index = 0; index <= command.length; index++) {
|
||||
c = command[index]
|
||||
brick.showString("" + indent + c, 4)
|
||||
indent = "" + indent + " "
|
||||
if (c == "L") {
|
||||
motors.largeBC.steer(-100, 50, 378, MoveUnit.Degrees)
|
||||
} else if (c == "R") {
|
||||
motors.largeBC.steer(100, 50, 378, MoveUnit.Degrees)
|
||||
} else if (c == "F") {
|
||||
motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations)
|
||||
} else if (c == "B") {
|
||||
motors.largeBC.steer(0, -50, 1, MoveUnit.Rotations)
|
||||
}
|
||||
}
|
||||
command = ""
|
||||
brick.showString("", 2)
|
||||
})
|
||||
motors.largeBC.setBrake(true)
|
||||
forever(function () {
|
||||
brick.showString("TURTLE", 1)
|
||||
brick.showString(command, 3)
|
||||
brick.showString("up/down: forward/backward", 8)
|
||||
brick.showString("left/right: turn", 9)
|
||||
brick.showString("enter: play commands", 10)
|
||||
})
|
||||
```
|
||||
@ -1,24 +0,0 @@
|
||||
# Infrared sensor
|
||||
|
||||
## Tutorials
|
||||
|
||||
```codecard
|
||||
[{
|
||||
"name": "Object Near",
|
||||
"description": "Detect if objects are near.",
|
||||
"cardType": "tutorial",
|
||||
"url":"/tutorials/object-near",
|
||||
"imageUrl":"/static/tutorials/object-near.png"
|
||||
}, {
|
||||
"name": "Wall Follower",
|
||||
"description": "Follow a wall at a distance using the ultrasonic sensor and a proportional controller.",
|
||||
"cardType": "tutorial",
|
||||
"url":"/tutorials/wall-follower",
|
||||
"imageUrl":"/static/tutorials/wall-follower.png"
|
||||
}]
|
||||
```
|
||||
|
||||
## See Also
|
||||
|
||||
[Object Near?](/tutorials/object-near),
|
||||
[Wall Follower](/tutorials/wall-follower)
|
||||
@ -1,191 +0,0 @@
|
||||
# Wall Follower
|
||||
|
||||
## Introduction @unplugged
|
||||
|
||||
This tutorial shows you how to use the ultrasonic sensor to
|
||||
move a [EV3 Driving Base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
|
||||
along a wall.
|
||||
|
||||
Your ultrasonic sensor should be placed horizontally, near the driving wheel, facing the wall.
|
||||
|
||||
## Step 1 Measure distance
|
||||
|
||||
Declare a new variable ``distance`` and store the distance from
|
||||
the ultrasonic sensor on port 4.
|
||||
|
||||
```blocks
|
||||
let distance = 0
|
||||
forever(function () {
|
||||
distance = sensors.ultrasonic4.distance()
|
||||
})
|
||||
```
|
||||
|
||||
## Step 2 Show distance
|
||||
|
||||
Use a ``||brick:show value||`` block to display the distance value on the screen.
|
||||
This is **very** helpful when you are debugging your code on the robot.
|
||||
|
||||
Once your code is ready, download it to your robot and check that the measured distance looks ok.
|
||||
|
||||
```blocks
|
||||
let distance = 0
|
||||
forever(function () {
|
||||
distance = sensors.ultrasonic4.distance()
|
||||
brick.showValue("distance", distance, 1)
|
||||
})
|
||||
```
|
||||
|
||||
## Step 3 Goal
|
||||
|
||||
Declare a new variable ``goal`` and assign it to ``10`` in ``on start``.
|
||||
The value should be the distance in centimeters between your robot and the wall.
|
||||
|
||||
```blocks
|
||||
let goal = 0
|
||||
goal = 10
|
||||
```
|
||||
|
||||
## Step 4 Compute Error
|
||||
|
||||
Declare a new variable ``error`` and assign a difference between ``distance`` and ``goal``.
|
||||
We will use this value to determine how much the robot needs to correct its trajectory.
|
||||
|
||||
```blocks
|
||||
let distance = 0
|
||||
let goal = 0
|
||||
let error = 0
|
||||
goal = 10
|
||||
forever(function () {
|
||||
distance = sensors.ultrasonic4.distance()
|
||||
brick.showValue("distance", distance, 1)
|
||||
error = distance - goal
|
||||
brick.showValue("error", error, 2)
|
||||
})
|
||||
```
|
||||
|
||||
## Step 5 Show Error
|
||||
|
||||
Just like ``distance``, use ``||brick:show value||`` to display the value of the error (line 2).
|
||||
This will allow you to debug your code while it is running on the robot.
|
||||
|
||||
Download your program to the robot and check that the error goes to ``0`` when
|
||||
the robot is around 10cm from the wall.
|
||||
|
||||
```blocks
|
||||
let distance = 0
|
||||
let goal = 0
|
||||
let error = 0
|
||||
goal = 10
|
||||
forever(function () {
|
||||
distance = sensors.ultrasonic4.distance()
|
||||
brick.showValue("distance", distance, 1)
|
||||
error = distance - goal
|
||||
brick.showValue("error", error, 2)
|
||||
})
|
||||
```
|
||||
|
||||
## Step 6 Kp
|
||||
|
||||
Declare a new variable ``kp`` and assign it to ``1``.
|
||||
This number determines how to convert the error into a ``turn ratio`` for the steer block.
|
||||
For starter, set it to 1 and we will go through the steps to tune its value later on.
|
||||
As usual, also use ``||brick:show value||`` to display the value of ``kp`` on the screen (line 3).
|
||||
|
||||
```blocks
|
||||
let distance = 0
|
||||
let goal = 0
|
||||
let error = 0
|
||||
let kp = 0
|
||||
goal = 10
|
||||
kp = 1
|
||||
forever(function () {
|
||||
distance = sensors.ultrasonic4.distance()
|
||||
brick.showValue("distance", distance, 1)
|
||||
error = distance - goal
|
||||
brick.showValue("error", error, 2)
|
||||
brick.showValue("kp", kp, 3)
|
||||
})
|
||||
```
|
||||
|
||||
## Step 7 Turn ratio
|
||||
|
||||
Declare a new variable ``turnratio`` and store the product of ``error`` and ``kp`` in it.
|
||||
Also use ``||brick:show value||`` to display its value on screen.
|
||||
|
||||
Download the program on the robot and try moving the robot around the wall. You should see
|
||||
the value of ``turnratio`` change similarly to ``error``.
|
||||
|
||||
```blocks
|
||||
let distance = 0
|
||||
let goal = 0
|
||||
let error = 0
|
||||
let kp = 0
|
||||
let turnratio = 0
|
||||
goal = 10
|
||||
kp = 1
|
||||
forever(function () {
|
||||
distance = sensors.ultrasonic4.distance()
|
||||
brick.showValue("distance", distance, 1)
|
||||
error = distance - goal
|
||||
brick.showValue("error", error, 2)
|
||||
brick.showValue("kp", kp, 3)
|
||||
turnratio = error * kp
|
||||
brick.showValue("turn", turnratio, 4)
|
||||
})
|
||||
```
|
||||
|
||||
## Step 8 Steering
|
||||
|
||||
Add a ``||motors:steer motors||`` block for ``large B+C`` at 35% and place the ``turnratio``
|
||||
variable for the turn value.
|
||||
|
||||
Download the code to your robot and try it out. Does it follow the wall?...
|
||||
Not really, this is because we need to tune the ``kp`` variable.
|
||||
|
||||
```blocks
|
||||
let distance = 0
|
||||
let goal = 0
|
||||
let error = 0
|
||||
let kp = 0
|
||||
let turnratio = 0
|
||||
goal = 10
|
||||
kp = 1
|
||||
forever(function () {
|
||||
distance = sensors.ultrasonic4.distance()
|
||||
brick.showValue("distance", distance, 1)
|
||||
error = distance - goal
|
||||
brick.showValue("error", error, 2)
|
||||
brick.showValue("kp", kp, 3)
|
||||
turnratio = error * kp
|
||||
brick.showValue("turn", turnratio, 4)
|
||||
motors.largeBC.steer(turnratio, 35)
|
||||
})
|
||||
```
|
||||
|
||||
## Step 9 Tuning kp
|
||||
|
||||
As mentioned in a previous step, we need to find the right value for kp so that the robot
|
||||
follows the wall properly. This tuning can be tedious so we are going to the brick buttons
|
||||
to speed up the process.
|
||||
|
||||
Add ``||brick:on button||`` blocks to handle the left and right button pressed. When left is pressed, change ``kp`` by ``-1``. When right is pressed, change ``kp`` by 1.
|
||||
|
||||
Download your code to the robot and change the values of ``kp`` until the robot follows the wall. (Tip try something around -5 / -10).
|
||||
|
||||
```blocks
|
||||
let kp = 0
|
||||
brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
|
||||
kp += -1
|
||||
})
|
||||
brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
|
||||
kp += 1
|
||||
})
|
||||
```
|
||||
|
||||
## Step 10 @unplugged
|
||||
|
||||
Well done! Your robot is using the ultrasonic distance
|
||||
to correct is trajectory using a proportional controller!
|
||||
|
||||
The robot will be more precise if it goes slow... Try using a variable
|
||||
and the brick up and down events to control the speed as well.
|
||||
@ -63,7 +63,9 @@ const rbfTemplate = `
|
||||
export function deployCoreAsync(resp: pxtc.CompileResult) {
|
||||
let w: pxt.editor.Ev3Wrapper
|
||||
|
||||
let filename = resp.downloadFileBaseName || "pxt"
|
||||
const origElfUF2 = UF2.parseFile(pxt.U.stringToUint8Array(ts.pxtc.decodeBase64(resp.outfiles[pxt.outputName()])))
|
||||
|
||||
let filename = resp.downloadFileBaseName || (origElfUF2[0].filename || "").replace(/^Projects\//, "").replace(/\.elf$/, "") || "pxt"
|
||||
filename = filename.replace(/^lego-/, "")
|
||||
|
||||
let fspath = "../prjs/BrkProg_SAVE/"
|
||||
@ -77,8 +79,6 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
|
||||
let rbfBIN = pxt.U.fromHex(rbfHex)
|
||||
pxt.HF2.write16(rbfBIN, 4, rbfBIN.length)
|
||||
|
||||
let origElfUF2 = UF2.parseFile(pxt.U.stringToUint8Array(ts.pxtc.decodeBase64(resp.outfiles[pxt.outputName()])))
|
||||
|
||||
let mkFile = (ext: string, data: Uint8Array = null) => {
|
||||
let f = UF2.newBlockFile()
|
||||
f.filename = "Projects/" + filename + ext
|
||||
|
||||
@ -1,40 +1,13 @@
|
||||
|
||||
const enum BatteryProperty {
|
||||
//% block="level (%)"
|
||||
Level,
|
||||
//% block="current (I)"
|
||||
Current,
|
||||
//% block="voltage (V)"
|
||||
Voltage
|
||||
}
|
||||
|
||||
namespace brick {
|
||||
/**
|
||||
* Returns the current battery level
|
||||
*/
|
||||
//% blockId=brickBatteryLevel block="battery level"
|
||||
//% group="Battery"
|
||||
//% group="More"
|
||||
//% help=brick/battery-level
|
||||
//% deprecated blockHidden=1
|
||||
export function batteryLevel(): number {
|
||||
const info = sensors.internal.getBatteryInfo();
|
||||
return info.level;
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns information about the battery
|
||||
*/
|
||||
//% blockId=brickBatteryProperty block="battery %property"
|
||||
//% group="Battery"
|
||||
//% help=brick/battery-property
|
||||
export function batteryInfo(property: BatteryProperty): number {
|
||||
const info = sensors.internal.getBatteryInfo();
|
||||
switch(property) {
|
||||
case BatteryProperty.Level: return info.level;
|
||||
case BatteryProperty.Current: return info.Ibatt;
|
||||
case BatteryProperty.Voltage: return info.Vbatt;
|
||||
default: return 0;
|
||||
}
|
||||
|
||||
return info.current;
|
||||
}
|
||||
}
|
||||
@ -36,17 +36,8 @@ namespace sensors.internal {
|
||||
let analogMM: MMap
|
||||
let uartMM: MMap
|
||||
let IICMM: MMap
|
||||
let powerMM: MMap
|
||||
let devcon: Buffer
|
||||
let sensorInfos: SensorInfo[];
|
||||
|
||||
let batteryInfo: {
|
||||
CinCnt: number;
|
||||
CoutCnt: number;
|
||||
VinCnt: number;
|
||||
};
|
||||
let batteryVMin: number;
|
||||
let batteryVMax: number;
|
||||
let sensorInfos: SensorInfo[]
|
||||
|
||||
class SensorInfo {
|
||||
port: number
|
||||
@ -80,13 +71,10 @@ namespace sensors.internal {
|
||||
IICMM = control.mmap("/dev/lms_iic", IICOff.Size, 0)
|
||||
if (!IICMM) control.fail("no iic sensor")
|
||||
|
||||
powerMM = control.mmap("/dev/lms_power", 2, 0)
|
||||
|
||||
unsafePollForChanges(500,
|
||||
() => { return hashDevices(); },
|
||||
(prev, curr) => {
|
||||
detectDevices();
|
||||
});
|
||||
(prev, curr) => { detectDevices();
|
||||
});
|
||||
sensorInfos.forEach(info => {
|
||||
unsafePollForChanges(50, () => {
|
||||
if (info.sensor) return info.sensor._query()
|
||||
@ -95,7 +83,8 @@ namespace sensors.internal {
|
||||
if (info.sensor) info.sensor._update(prev, curr)
|
||||
})
|
||||
})
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
export function getActiveSensors(): Sensor[] {
|
||||
init();
|
||||
@ -121,130 +110,18 @@ namespace sensors.internal {
|
||||
return manufacturer + sensorType;
|
||||
}
|
||||
|
||||
const ADC_REF = 5000 //!< [mV] maximal value on ADC
|
||||
const ADC_RES = 4095 //!< [CNT] maximal count on ADC
|
||||
// see c_ui.c
|
||||
const SHUNT_IN = 0.11 // [Ohm]
|
||||
const AMP_CIN = 22.0 // [Times]
|
||||
|
||||
const EP2_SHUNT_IN = 0.05 // [Ohm]
|
||||
const EP2_AMP_CIN = 15.0 // [Times]
|
||||
|
||||
const SHUNT_OUT = 0.055 // [Ohm]
|
||||
const AMP_COUT = 19.0 // [Times]
|
||||
|
||||
const VCE = 0.05 // [V]
|
||||
const AMP_VIN = 0.5 // [Times]
|
||||
|
||||
const AVR_CIN = 300
|
||||
const AVR_COUT = 30
|
||||
const AVR_VIN = 30
|
||||
// lms2012
|
||||
const BATT_INDICATOR_HIGH = 7500 //!< Battery indicator high [mV]
|
||||
const BATT_INDICATOR_LOW = 6200 //!< Battery indicator low [mV]
|
||||
const ACCU_INDICATOR_HIGH = 7500 //!< Rechargeable battery indicator high [mV]
|
||||
const ACCU_INDICATOR_LOW = 7100 //!< Rechargeable battery indicator low [mV]
|
||||
|
||||
function CNT_V(C: number) {
|
||||
return ((C * ADC_REF) / (ADC_RES * 1000.0))
|
||||
}
|
||||
|
||||
function updateBatteryInfo() {
|
||||
let CinCnt = analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryCurrent);
|
||||
let CoutCnt = analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.MotorCurrent);
|
||||
let VinCnt = analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.Cell123456);
|
||||
if (!batteryInfo) {
|
||||
batteryVMin = BATT_INDICATOR_LOW;
|
||||
batteryVMax = BATT_INDICATOR_HIGH;
|
||||
if (powerMM) {
|
||||
const accu = powerMM.getNumber(NumberFormat.UInt8LE, 0);
|
||||
if (accu > 0) {
|
||||
control.dmesg("rechargeable battery")
|
||||
batteryVMin = ACCU_INDICATOR_LOW;
|
||||
batteryVMax = ACCU_INDICATOR_HIGH;
|
||||
}
|
||||
}
|
||||
batteryInfo = {
|
||||
CinCnt: CinCnt,
|
||||
CoutCnt: CoutCnt,
|
||||
VinCnt: VinCnt
|
||||
};
|
||||
// update in background
|
||||
control.runInParallel(() => forever(updateBatteryInfo));
|
||||
} else {
|
||||
CinCnt = batteryInfo.CinCnt = ((batteryInfo.CinCnt * (AVR_CIN - 1)) + CinCnt) / AVR_CIN;
|
||||
CoutCnt = batteryInfo.CoutCnt = ((batteryInfo.CoutCnt * (AVR_COUT - 1)) + CoutCnt) / AVR_COUT;
|
||||
VinCnt = batteryInfo.VinCnt = ((batteryInfo.VinCnt * (AVR_VIN - 1)) + VinCnt) / AVR_VIN;
|
||||
}
|
||||
}
|
||||
|
||||
export function getBatteryInfo(): {
|
||||
level: number;
|
||||
Ibatt: number,
|
||||
Vbatt: number,
|
||||
Imotor: number
|
||||
} {
|
||||
export function getBatteryInfo(): { temp: number; current: number } {
|
||||
init();
|
||||
if (!batteryInfo) updateBatteryInfo();
|
||||
const CinCnt = batteryInfo.CinCnt;
|
||||
const CoutCnt = batteryInfo.CoutCnt;
|
||||
const VinCnt = batteryInfo.VinCnt;
|
||||
/*
|
||||
void cUiUpdatePower(void)
|
||||
{
|
||||
#ifndef Linux_X86
|
||||
DATAF CinV;
|
||||
DATAF CoutV;
|
||||
|
||||
if ((UiInstance.Hw == FINAL) || (UiInstance.Hw == FINALB))
|
||||
{
|
||||
CinV = CNT_V(UiInstance.CinCnt) / AMP_CIN;
|
||||
UiInstance.Vbatt = (CNT_V(UiInstance.VinCnt) / AMP_VIN) + CinV + VCE;
|
||||
|
||||
UiInstance.Ibatt = CinV / SHUNT_IN;
|
||||
CoutV = CNT_V(UiInstance.CoutCnt) / AMP_COUT;
|
||||
UiInstance.Imotor = CoutV / SHUNT_OUT;
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
CinV = CNT_V(UiInstance.CinCnt) / EP2_AMP_CIN;
|
||||
UiInstance.Vbatt = (CNT_V(UiInstance.VinCnt) / AMP_VIN) + CinV + VCE;
|
||||
|
||||
UiInstance.Ibatt = CinV / EP2_SHUNT_IN;
|
||||
UiInstance.Imotor = 0;
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
#ifdef DEBUG_TEMP_SHUTDOWN
|
||||
|
||||
UiInstance.Vbatt = 7.0;
|
||||
UiInstance.Ibatt = 5.0;
|
||||
|
||||
#endif
|
||||
}
|
||||
*/
|
||||
const CinV = CNT_V(CinCnt) / AMP_CIN;
|
||||
const Vbatt = CNT_V(VinCnt) / AMP_VIN + CinV + VCE;
|
||||
const Ibatt = CinV / SHUNT_IN;
|
||||
const CoutV = CNT_V(CoutCnt) / AMP_COUT;
|
||||
const Imotor = CoutV / SHUNT_OUT;
|
||||
const level = Math.max(0, Math.min(100, Math.floor((Vbatt * 1000.0 - batteryVMin)
|
||||
/ (batteryVMax - batteryVMin) * 100)));
|
||||
|
||||
return {
|
||||
level: level,
|
||||
Vbatt: Vbatt,
|
||||
Ibatt: Ibatt,
|
||||
Imotor: Imotor
|
||||
};
|
||||
temp: analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryTemp),
|
||||
current: Math.round(analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryCurrent) / 10)
|
||||
}
|
||||
}
|
||||
|
||||
function hashDevices(): number {
|
||||
const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
|
||||
let r = 0;
|
||||
for (let i = 0; i < conns.length; ++i) {
|
||||
for(let i = 0; i < conns.length; ++i) {
|
||||
r = (r << 8 | conns[i]);
|
||||
}
|
||||
return r;
|
||||
|
||||
@ -23,6 +23,10 @@
|
||||
#define MALLOC_LIMIT (8 * 1024 * 1024)
|
||||
#define MALLOC_CHECK_PERIOD (1024 * 1024)
|
||||
|
||||
namespace Array_ {
|
||||
RefCollection *mk(unsigned flags);
|
||||
}
|
||||
|
||||
void *xmalloc(size_t sz) {
|
||||
static size_t allocBytes = 0;
|
||||
allocBytes += sz;
|
||||
@ -476,7 +480,7 @@ void stopLMS() {
|
||||
if (!pid)
|
||||
continue;
|
||||
char namebuf[100];
|
||||
snprintf(namebuf, 1000, "/proc/%d/cmdline", pid);
|
||||
snprintf(namebuf, 100, "/proc/%d/cmdline", pid);
|
||||
FILE *f = fopen(namebuf, "r");
|
||||
if (f) {
|
||||
fread(namebuf, 1, 99, f);
|
||||
@ -590,4 +594,66 @@ void dmesg(const char *format, ...) {
|
||||
fflush(dmesgFile);
|
||||
fdatasync(fileno(dmesgFile));
|
||||
}
|
||||
|
||||
const char *progPath = "/mnt/ramdisk/prjs/BrkProg_SAVE";
|
||||
|
||||
//%
|
||||
void deleteAllPrograms() {
|
||||
char buf[1024];
|
||||
|
||||
struct dirent *ent;
|
||||
DIR *dir;
|
||||
|
||||
dir = opendir(progPath);
|
||||
if (dir == NULL)
|
||||
return;
|
||||
|
||||
while ((ent = readdir(dir)) != NULL) {
|
||||
if (ent->d_name[0] == '.')
|
||||
continue;
|
||||
snprintf(buf, sizeof(buf), "%s/%s", progPath, ent->d_name);
|
||||
DMESG("FN: %s", ent->d_name);
|
||||
// unlink(buf);
|
||||
}
|
||||
|
||||
closedir(dir);
|
||||
}
|
||||
|
||||
|
||||
//%
|
||||
void deletePrjFile(String filename) {
|
||||
if (strlen(filename->data) > 500 || strchr(filename->data, '/'))
|
||||
return;
|
||||
char buf[1024];
|
||||
snprintf(buf, sizeof(buf), "%s/%s", progPath, filename->data);
|
||||
unlink(buf);
|
||||
}
|
||||
|
||||
//%
|
||||
RefCollection *listPrjFiles() {
|
||||
auto res = Array_::mk(0);
|
||||
//registerGCObj(res);
|
||||
|
||||
auto dp = opendir(progPath);
|
||||
|
||||
for (;;) {
|
||||
dirent *ep = dp ? readdir(dp) : NULL;
|
||||
if (!ep)
|
||||
break;
|
||||
if (ep->d_name[0] == '.')
|
||||
continue;
|
||||
auto str = mkString(ep->d_name, -1);
|
||||
//registerGCObj(str);
|
||||
res->push((TValue)str);
|
||||
//unregisterGCObj(str);
|
||||
}
|
||||
if (dp)
|
||||
closedir(dp);
|
||||
//unregisterGCObj(res);
|
||||
|
||||
return res;
|
||||
}
|
||||
|
||||
|
||||
|
||||
} // namespace pxt
|
||||
|
||||
@ -36,13 +36,6 @@ enum MoveUnit {
|
||||
MilliSeconds
|
||||
}
|
||||
|
||||
enum MovePhase {
|
||||
//% block="acceleration"
|
||||
Acceleration,
|
||||
//% block="deceleration"
|
||||
Deceleration
|
||||
}
|
||||
|
||||
namespace motors {
|
||||
let pwmMM: MMap
|
||||
let motorMM: MMap
|
||||
@ -233,7 +226,6 @@ namespace motors {
|
||||
//% weight=1 blockGap=8
|
||||
//% group="Properties"
|
||||
//% millis.defl=200 millis.min=0 millis.max=500
|
||||
//% help=motors/motor/set-brake-settle-time
|
||||
setBrakeSettleTime(millis: number) {
|
||||
this.init();
|
||||
// ensure in [0,500]
|
||||
@ -267,9 +259,6 @@ namespace motors {
|
||||
this.pauseUntilReady();
|
||||
// allow robot to settle
|
||||
this.settle();
|
||||
} else {
|
||||
// give a breather to the event system in tight loops
|
||||
pause(1);
|
||||
}
|
||||
}
|
||||
|
||||
@ -290,7 +279,7 @@ namespace motors {
|
||||
const r: MoveSchedule = {
|
||||
speed: Math.clamp(-100, 100, speed >> 0),
|
||||
useSteps: true,
|
||||
steps: [step1 || 0, step2 || 0, step3 || 0]
|
||||
steps: [step1, step2, step3]
|
||||
}
|
||||
let scale = 1;
|
||||
switch (unit) {
|
||||
@ -363,20 +352,18 @@ namespace motors {
|
||||
/**
|
||||
* Schedules a run of the motor with an acceleration, constant and deceleration phase.
|
||||
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
|
||||
* @param value measured distance or rotation, eg: 500
|
||||
* @param unit (optional) unit of the value, eg: MoveUnit.MilliSeconds
|
||||
* @param acceleration acceleration phase measured distance or rotation, eg: 500
|
||||
* @param deceleration deceleration phase measured distance or rotation, eg: 500
|
||||
* @param acceleration acceleration phase measured distance or rotation
|
||||
* @param value measured distance or rotation
|
||||
* @param deceleration deceleration phase measured distance or rotation
|
||||
* @param unit (optional) unit of the value
|
||||
*/
|
||||
//% blockId=motorSchedule block="ramp %motor at %speed=motorSpeedPicker|\\%|for %value|%unit||accelerate %acceleration|decelerate %deceleration"
|
||||
//% blockId=motorSchedule block="schedule %motor at %speed=motorSpeedPicker|\\%|for %acceleration|%value|%deceleration||%unit"
|
||||
//% weight=99 blockGap=8
|
||||
//% group="Move"
|
||||
//% motor.fieldEditor="motors"
|
||||
//% help=motors/motor/ramp
|
||||
//% help=motors/motor/schedule
|
||||
//% inlineInputMode=inline
|
||||
//% expandableArgumentMode=toggle
|
||||
//% value.defl=500
|
||||
ramp(speed: number, value: number = 500, unit: MoveUnit = MoveUnit.MilliSeconds, acceleration?: number, deceleration?: number) {
|
||||
schedule(speed: number, acceleration: number, value: number, deceleration: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
|
||||
this.init();
|
||||
const schedule = this.normalizeSchedule(speed, acceleration, value, deceleration, unit);
|
||||
// stop if speed is 0
|
||||
@ -399,41 +386,50 @@ namespace motors {
|
||||
* Specifies the amount of rotation or time for the acceleration
|
||||
* of run commands.
|
||||
*/
|
||||
//% blockId=outputMotorsetRunRamp block="set %motor|run %ramp to $value||$unit"
|
||||
//% blockId=outputMotorsetRunAcceleration block="set %motor|run acceleration to $value||$unit"
|
||||
//% motor.fieldEditor="motors"
|
||||
//% weight=21 blockGap=8
|
||||
//% group="Properties"
|
||||
//% help=motors/motor/set-run-phase
|
||||
setRunPhase(phase: MovePhase, value: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
|
||||
let temp: number;
|
||||
//% help=motors/motor/set-run-acceleration-ramp
|
||||
setRunAccelerationRamp(value: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
|
||||
switch (unit) {
|
||||
case MoveUnit.Rotations:
|
||||
temp = Math.max(0, (value * 360) | 0);
|
||||
if (phase == MovePhase.Acceleration)
|
||||
this._accelerationSteps = temp;
|
||||
else
|
||||
this._decelerationSteps = temp;
|
||||
this._accelerationSteps = Math.max(0, (value * 360) | 0);
|
||||
break;
|
||||
case MoveUnit.Degrees:
|
||||
temp = Math.max(0, value | 0);
|
||||
if (phase == MovePhase.Acceleration)
|
||||
this._accelerationSteps = temp;
|
||||
else
|
||||
this._decelerationSteps = temp;
|
||||
this._accelerationSteps = Math.max(0, value | 0);
|
||||
break;
|
||||
case MoveUnit.Seconds:
|
||||
temp = Math.max(0, (value * 1000) | 0);
|
||||
if (phase == MovePhase.Acceleration)
|
||||
this._accelerationTime = temp;
|
||||
else
|
||||
this._decelerationTime = temp;
|
||||
this._accelerationTime = Math.max(0, (value * 1000) | 0);
|
||||
break;
|
||||
case MoveUnit.MilliSeconds:
|
||||
temp = Math.max(0, value | 0);
|
||||
if (phase == MovePhase.Acceleration)
|
||||
this._accelerationTime = temp;
|
||||
else
|
||||
this._decelerationTime = temp;
|
||||
this._accelerationTime = Math.max(0, value | 0);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Specifies the amount of rotation or time for the acceleration
|
||||
* of run commands.
|
||||
*/
|
||||
//% blockId=outputMotorsetRunDeceleration block="set %motor|run deceleration ramp to $value||$unit"
|
||||
//% motor.fieldEditor="motors"
|
||||
//% weight=20 blockGap=8
|
||||
//% group="Properties"
|
||||
//% help=motors/motor/set-run-deceleration-ramp
|
||||
setRunDecelerationRamp(value: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
|
||||
switch (unit) {
|
||||
case MoveUnit.Rotations:
|
||||
this._decelerationSteps = Math.max(0, (value * 360) | 0);
|
||||
break;
|
||||
case MoveUnit.Degrees:
|
||||
this._decelerationSteps = Math.max(0, value | 0);
|
||||
break;
|
||||
case MoveUnit.Seconds:
|
||||
this._decelerationTime = Math.max(0, (value * 1000) | 0);
|
||||
break;
|
||||
case MoveUnit.MilliSeconds:
|
||||
this._decelerationTime = Math.max(0, value | 0);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
|
||||
//% color="#68C3E2" weight=100 icon="\uf106"
|
||||
//% groups='["Buttons", "Screen", "Battery"]'
|
||||
//% groups='["Buttons", "Screen"]'
|
||||
//% labelLineWidth=60
|
||||
namespace brick {
|
||||
}
|
||||
|
||||
@ -1,7 +1,5 @@
|
||||
// This is the last thing executed before user code
|
||||
console.addListener(function(msg: string) {
|
||||
control.dmesg(msg.substr(0, msg.length - 1))
|
||||
})
|
||||
|
||||
// pulse green, play startup sound, turn off light
|
||||
brick.setStatusLight(StatusLight.GreenPulse);
|
||||
// We pause for 100ms to give time to read sensor values, so they work in on_start block
|
||||
|
||||
@ -199,10 +199,4 @@ namespace storage {
|
||||
return '/' + filename;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Permanent storage on the brick, must be deleted with code.
|
||||
*/
|
||||
//% whenUsed fixedInstance block="permanent"
|
||||
export const permanent: Storage = new PermanentStorage();
|
||||
}
|
||||
@ -3,6 +3,7 @@ namespace storage {
|
||||
storage.temporary.remove("console.txt");
|
||||
console.addListener(function(line) {
|
||||
const fn = "console.txt";
|
||||
const mxs = 65536;
|
||||
const t = control.millis();
|
||||
storage.temporary.appendLine(fn, `${t}> ${line}`);
|
||||
storage.temporary.limit(fn, 65536);
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
{
|
||||
"name": "pxt-ev3",
|
||||
"version": "1.2.2",
|
||||
"version": "1.1.17",
|
||||
"description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
|
||||
"private": false,
|
||||
"keywords": [
|
||||
|
||||
@ -101,7 +101,6 @@
|
||||
"copyrightText": "LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are trademarks and/ or copyrights of the LEGO Group. ©2018 The LEGO Group. All rights reserved.",
|
||||
"crowdinProject": "kindscript",
|
||||
"selectLanguage": true,
|
||||
"greenScreen": true,
|
||||
"availableLocales": [
|
||||
"en",
|
||||
"de",
|
||||
@ -131,10 +130,6 @@
|
||||
{
|
||||
"name": "Reference",
|
||||
"path": "/reference"
|
||||
},
|
||||
{
|
||||
"name": "FIRST LEGO League",
|
||||
"path": "/fll"
|
||||
}
|
||||
],
|
||||
"print": true,
|
||||
|
||||
@ -13,15 +13,13 @@
|
||||
"Motor Tutorials": "tutorials/motors",
|
||||
"Touch Sensor Tutorials": "tutorials/touch-sensor",
|
||||
"Color Sensor Tutorials": "tutorials/color-sensor",
|
||||
"Ultrasonic Sensor Tutorials": "tutorials/ultrasonic-sensor",
|
||||
"Infrared Sensor Tutorials": "tutorials/infrared-sensor",
|
||||
"FLL / City Shaper / Crane Mission": "tutorials/city-shaper/crane-mission",
|
||||
"Design Engineering": "design-engineering",
|
||||
"Coding": "coding",
|
||||
"Maker": "maker",
|
||||
"Videos": "videos"
|
||||
},
|
||||
"electronManifest": {
|
||||
"latest": "v1.1.20"
|
||||
"latest": "v1.0.11"
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user