137 lines
4.8 KiB
TypeScript
137 lines
4.8 KiB
TypeScript
enum UltrasonicSensorEvent {
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//% block="object detected"
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ObjectDetected = 10,
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//% block="object near"
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ObjectNear = sensors.ThresholdState.Low
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}
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namespace sensors {
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//% fixedInstances
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export class UltraSonicSensor extends internal.UartSensor {
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private promixityThreshold: sensors.ThresholdDetector;
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private movementThreshold: number;
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constructor(port: number) {
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super(port)
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this.promixityThreshold = new sensors.ThresholdDetector(this.id(), 0, 255, 10, 100); // range is 0..255cm
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this.movementThreshold = 1;
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this._setMode(0);
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}
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_deviceType() {
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return DAL.DEVICE_TYPE_ULTRASONIC
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}
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_query(): number {
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return ((this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff) / 10) >> 0; // range is 0..2550, in 0.1 cm increments.
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}
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_info(): string {
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return `${this.distance()}cm`
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}
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_update(prev: number, curr: number) {
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// is there an object near?
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this.promixityThreshold.setLevel(curr);
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// did something change?
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if (Math.abs(prev - curr) > this.movementThreshold)
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control.raiseEvent(this._id, UltrasonicSensorEvent.ObjectDetected);
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}
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/**
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* Registers code to run when an object is close or detected
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* @param handler the code to run when detected
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*/
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//% help=sensors/ultrasonic/on-event
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//% blockId=ultrasonicOn
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//% block="on **ultrasonic** %this|%event"
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//% parts="ultrasonicsensor"
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//% blockNamespace=sensors
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//% this.fieldEditor="ports"
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//% weight=100 blockGap=8
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//% group="Ultrasonic Sensor"
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onEvent(event: UltrasonicSensorEvent, handler: () => void) {
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control.onEvent(this._id, event, handler);
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}
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/**
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* Waits for the event to occur
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*/
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//% help=sensors/ultrasonic/pause-until
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//% block="pause until **ultrasonic** %this| %event"
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//% blockId=ultrasonicWait
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//% parts="ultrasonicsensor"
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//% blockNamespace=sensors
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//% this.fieldEditor="ports"
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//% weight=99 blockGap=8
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//% group="Ultrasonic Sensor"
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pauseUntil(event: UltrasonicSensorEvent) {
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control.waitForEvent(this._id, event);
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}
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/**
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* Gets the distance from the sonar in centimeters
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* @param sensor the ultrasonic sensor port
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*/
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//% help=sensors/ultrasonic/distance
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//% block="**ultrasonic** %this|distance"
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//% blockId=sonarGetDistance
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//% parts="ultrasonicsensor"
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//% blockNamespace=sensors
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//% this.fieldEditor="ports"
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//% weight=65
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//% group="Ultrasonic Sensor"
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distance(): number {
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// it supposedly also has an inch mode, but we stick to cm
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this._setMode(0)
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return this._query();
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}
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/**
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* Sets a threshold value
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* @param condition the near or detected condition
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* @param value the value threshold
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*/
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//% blockId=ultrasonicSetThreshold block="set **ultrasonic** %this|%condition|to %value"
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//% group="Calibration" blockGap=8 weight=80
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//% value.min=0 value.max=255
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//% this.fieldEditor="ports"
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setThreshold(condition: UltrasonicSensorEvent, value: number) {
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switch (condition) {
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case UltrasonicSensorEvent.ObjectNear: this.promixityThreshold.setLowThreshold(value); break;
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case UltrasonicSensorEvent.ObjectDetected: this.movementThreshold = value; break;
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}
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}
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/**
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* Gets the threshold value
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* @param condition the proximity condition
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*/
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//% blockId=ultrasonicGetThreshold block="**ultrasonic** %this|%condition"
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//% group="Calibration" weight=79
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//% this.fieldEditor="ports"
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threshold(condition: UltrasonicSensorEvent): number {
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switch (condition) {
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case UltrasonicSensorEvent.ObjectNear: return this.promixityThreshold.threshold(ThresholdState.Low);
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case UltrasonicSensorEvent.ObjectDetected: return this.movementThreshold;
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}
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return 0;
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}
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}
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//% fixedInstance whenUsed block="4" jres=icons.port4
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export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
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//% fixedInstance whenUsed block="1" jres=icons.port1
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export const ultrasonic1: UltraSonicSensor = new UltraSonicSensor(1)
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//% fixedInstance whenUsed block="2" jres=icons.port2
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export const ultrasonic2: UltraSonicSensor = new UltraSonicSensor(2)
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//% fixedInstance whenUsed block="3" jres=icons.port3
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export const ultrasonic3: UltraSonicSensor = new UltraSonicSensor(3)
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}
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